About Tie Rod Ends and Wheel Bearings. on 1996 Toyota Avalon

I just came back from firestone a short time ago and was in for a shock. I went there for a tire rotation and a alignment check.
I was told that i needed to have one wheel bearing replaced and both tie rod ends replaced. That is both left and outter.
I am going to my repair shop some time this week to have then look at it and to see what they say.
I consider myself a back yard mechanic and i have some friends that are the same and know more about repairs then me.
So in your view if what firestone told me is correct and my repair shop finds the same things wrong with my car. Could me and my friends if we had the knowledge and tools. do you think we could do the repairs on my car.

Asked by for the 1996 Toyota Avalon