how do I determine if my inner "tie rod" is bad?

agree with #1

An Alignment shop normally would not align your car without replacing them if they were bad. Cannot get the alignment to hold if there are parts moving, or worn. Also have tires checked for separation, doesn't take much separation to notice a non smooth ride. If you know what you're looking for you can raise the front end, with tires up off the ground. Grab the tire at the 3 and 9 o'clock position and move your tires left to right while watching for movement before your steering wheel moves. Also grab at the 6 and 12 o'clock position and do the same thing to check for bearing play. If bearing movement get, them replaced as soon as possible.