If you can see the play in the tie rod end, its too much. BTW, Toyota has a different name for this but I can't remember what they call it. Anyway, you have to slide the rack boots off and look directly at the joint to see if it has any play. There is some play in the system that can make it look like the joint is bad when its not.
If you decide to replace it, and your alignment is good right now, it might be cheaper to order an outer tie rod end at the same time, assemble them together, then remove the existing tie rod assembly and adjust the new one until its is exactly the same length as the old one, then install the new one. That would avoid the cost of a front end alignment.