Replacing tie rods, need some help choosing parts

Hey guys, I'm fairly new to wrenching (done a handful of fluid and hose changes, brakes, etc., but that's all) so I'm sorry if any of these questions are dumb. I brought my truck in for a tire rotation this week and the tech pointed out that the left inner tie rod was bad, and I think I want to take it on myself. I found a couple walkthrough videos on youtube and it looks like something I can do without screwing up too bad.

I figured while I'm at it I'll replace inner/outer tie rods on both sides, so I only have to do the alignment once. My dad suggested doing the wheel bearings, and a couple other people have thrown random suggestions at me... (vague advice like "replace all the rubber parts"), and I don't know what half of them are called.

So here's my question: Would anyone be able to give me a definite list of all the things I should replace while I'm at it? I've seen parts diagrams for the steering system, but I'm not sure what stays and what goes.

Edit: specs (duh, sorry)
2001 2.7L Pre-runner SR5
130k miles

 

I think you are on the right track in doing both sides. Get an appropriate puller to separate the outer from the spindle. Don't use a pickle fork or BFH.

The wheel bearings have nothing in common with the steering so doing those "while you're in there" makes no sense.

 

Thanks, that's the kind of info I'm looking for.