How do you change the inner tie rod and do you need a special tool or no

SOURCE: replace inner tie rod ends on 2005 gmc 1500

Yes, there is an inner tie rod end wrench, there are a few different types of wrenches available. You should be able to borrow one from one of your local parts stores. (Oreillys, Auto Zone, Napa, etc..)

SOURCE: tie rod end

if you do it yourself you need couple of tools and most important it grip plyer to hold the inner rod and you need propane touch to hit the outer/inner joint then try to open that way.
its easy that way i just replace mine few days ago.

SOURCE: tie rod problem 98 Dodge

Yes, there's a special tool called an "inner tie rod tool". It has special crowsfoot type pieces that attach to a long tube with a 1/2' drive ratchet hole in it. First, remove the outer tie rod (COUNT THE # OF REVOLUTIONS WHILE UNSCREWING IT!!) Take off the jamb nut. Take the boot off. Use the tool to remove and replace the inner tie rod. Re-install the boot, jamb nut, and outer tie rod. If you count the # of turns it takes to remove the outer tierod, you'll be able to set it back where it was enough to drive it. i still recommend an alignment though.

SOURCE: How to replace Inner Tie rod on 1994 Chrysler Town & Country?

222,000 miles? that's a good vechile so far! anyways, do some price checking. new rack and pinions come with the inner tie rods. so if it's like 50 more for the whole assembly, i would but if not, it's up to you. i've changed some rack and pinions on vechiles that were under 150000 due to major leaking. and if you put just new rods in, if it dose start leaking later, you'll get new inner rods again with new system you'll just be paying labor and alingment charges again. so again, my OPINION is if I'm going to keep it for a while and if it's COST effective, just to do the whole unit.

SOURCE: How Do I Remove & Replace Worn Inner Tie Rod Ends

Cut band clamp. use tie wrap. Special tool to remove inner tie rod. Autozone or others have them to rent. Must align after replacement