If your inner tie rods are truly in need of replacing, it might be better to go ahead and replace the steering rack because a new OEM steering rack comes with new inner tie rods. The inner tie rods alone are around $300. A whole new rack will run you around $500.
But, first of all, I'd do your own inspection of what they are claiming. Not all shops are honest. Use the video below to do your own inspection of the inner tie rods. An inner tie rod can feel very free moving, but as long as the joint doesn't have play (joint pops), it doesn't need to be replaced.
<iframe width="560" height="315" src="https://www.youtube.com/embed/--HcOQlv03U" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
If you find that only one tie rod is bad, just replace the one tie rod, because like I said, they are expensive. If both tie rods are bad, I'd just go ahead and replace the steering rack, because spending $200 more to get a new rack is worth it in my opinion. If you do end up replacing the steering rack, use the video below to swap it out.
<iframe width="560" height="315" src="https://www.youtube.com/embed/wZoRP5ogrK0" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>