Tie rods

The garage where I got an oil change said I need uppers & lowers. He took a large adjustable [pipe?] Wrench and was squeezing the joint near the tire up and down. He was able to compress it maybe a 1/2-inch at most, then did the same at the other end of the rod. He said Ford had re-designed the front end and inserted a new spring that kept all 'play' out of the steering wheel, but that I was in danger of loosing my steering and should have this done SOON. He quoted me about $350, which seems reasonable for the work & parts, but is he right that there will be no warning that a wheel is about to fail or fall off? He also said the driver side was tight, but that both should be done together. Thanks for any insites, -v