2006 Dodge Caravan loose tie rods need replacement again?

I'm driving 600 miles this weekend. To a family wedding. Midas muffler says the tie rods are loose and must be replaced now for $300.00 INCLUDING a realignment. How do I know the tie rods are loose/need replacement? I've been told there are 2 parts per side, are both parts always replaced? How much should this cost? I've been retired for several years and everything costs so much more now than when I retired, I don't want to spend money I don't have to, but I want to be safe for myself and other drivers.

The Dodge dealership where I bought the minivan said they "replaced" the tie rods less than 2 years ago under warranty. If they were replaced would I already need replacement again? The dealership is no longer in business so I can't go back there with questions.

Would the Chryler Co do anything for me? Who would I contact? Could someone answer ASAP. I don't want to travel if it would be unsafe and the tie rods need to be replaced before this weekend.

Any help is appreciated! Thank you!