Tie-rod ends need to be replaced, it's your outer tie-rod end that is bad in your video, you want to use the best you can buy IMHO since control of where the vehicle goes while driving is of upmost importance, which would be OEM which cost $40+ for one, you need 2 if you do both sides which I would recommend, BUT some of the after market are of good quailty for much less money, you can compared many of the after market ones on RockAuto, here are links to OEM and RockAuto.
https://toyotaparts.mcgeorgetoyota....0cnVubmVyJnk9MjAwOCZ0PXNyNSZlPTQtN2wtdjgtZ2Fz
https://www.rockauto.com/en/catalog/toyota,2008,4runner,4.7l+v8,1441495,steering,tie+rod+end,7428
You can replace the tie-rod ends yourself if you have basic mechanical skills and tools, 2 things to use care on when doing the replacement, first is to be very careful not to damage the speed sensor or wiring which is located next to where the tie-rod end connects to the steering arm, second is to take an accurate measurement from the center of the tie-rod end to the tie-rod sleeve where the end threads into, if you don't get the ends installed with the correct measurement to the end of the sleeve it will change your toe-end and you will need to get an alignment shop to re-set the toe-end correctly, if you haven't had an alignment done recently it's not a bad idea to get one after replacing the tie-rod ends to insure the toe-end is correct.