You will jack that side of the car up, remove the wheel, and you may have to remove the brake rotor and caliper to get to it. The caliper will be held on with two bolts, one on the back top and back bottom. After that, you will have access to the tie rod end. When you get to it, there will be a nut and possibly a cotter pin to remove and just tap it with a hammer and it will fall out. Also, when putting the new tie rod end on, mark where the old one was mounted on inner tie rod. They should be threaded together. If you don't get it back to where it originally was mounted, you alignment will be WAY off. After replacement you will have to get an alignment at some point, but you can drive just fine as long as you match it up.
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