We've been pretty much told the car needs work on the tie rods. Unfortunately, what we were told was vague: just that they needed to be worked on. Doing some research, I know something could be wrong with any of the following: the inner/outer tie rods, tie rod ends, ball and socket, etc. We don't know which it is, though.
Here are the symptoms of the car: The *EDIT* steering wheel *EDIT* turns to the right easily, but the car struggles to turn right, ending up turning very, very wide. I do have a jack and will soon have some jack stands, I want to put it up, take off the tires, and figure out specifically what is wrong before I start getting quotes on repairs. Any thoughts?

EDIT: I changed the wording so it'd make a little more sense.