Inner Tie Rod ends

I have a 2000 Altima, I just got an estimate from Nissan in Falls church, VA - Tie rod ends are going to cost me $535.00 at the dealer. I have a non-dealer mechanic who could probably do it for $300. If I do it myself, the rod ends can be bought for $60-$70 each and my own sweat. then get it aligned at a tire shop for about $40, so maybe do it myself for a total of $180.