The right side inner tie rod needs replaced

Here is a guide that will help with this:

https://www.2carpros.com/articles/tie-rod-end-replacement

Here is a video from a different vehicle but they are similar processes:

https://www.youtube.com/watch?v=rBP2UKYtIl0

These are pretty simple but one trick you need to do is count the number of turns it takes to remove the tie rod and install the new one in the same number of turns. This will get it as close as possible to being aligned properly.

Below is the process from the manual on how to replace them as well. Please let us know if you have other questions. Thanks