my steering linkage joints are pretty worn out is there a way to replace that or do i need to replace for example the whole tie rod end? thank you

 

Yes you must replace the whole unit.

 

What's worn out? Tie rod ends? Replace them. Idler arm? Replace it. Ball joints? Replace them. You don't necessarily need to replace everything. Take it for a frontend alignment, and they will tell you what you need. Have them replace them (which costs more) or replace them yourself then take it back to another shop for alignment. They normally charge a little extra for fresh alignments, but you save in the long run.