Stay out of the auto repair chains and stick with your regular mechanic if it is someone that you know and trust.
The best way to figure out if the tie rods are worn is to get the car up in the air and wiggle the wheel while you look for play. If they were bad enough you might get some vibration or noise on turns and some steering wander. You might also notice nothing, but if you don’t notice anything then you’re likely good waiting a few days for your mechanic.