This is common on all cars. Every car I've ever had eventually the Inner and Outer Tie Rods go to junk. It's a wearable part. The solve is to replace them with MOOG brand Tie Rods and Ball joints. Get another 100K out of those. If you get the cheap crap from Autozone or wherever, you will have to replace these again every 12,000 to 24,000 miles. Replaced my Duralast ones from Autozone 6 times before I bought MOOG (yes their twice the price, but also hefty and grease-able) Keep them greased on every oil change, and so far 75k later its the only thing I haven't had to replace again. If only they made batteries and alternators.
The steering had not really been a problem, but during an inspection for coolant leaking, it was determined that the left front outer tie rod needed to be replaced. At the same time, the left front hub was replaced. Steering now seems to be a little tighter. [Oct.2012]