Park in a safe work area, put the transmission in the park position, set parking brakes, lock the rear wheels using the wheel chocks to prevent the vehicle from rolling.
Loosen the lug nuts before raising the vehicle (if you don't have an impact gun), raise the car using the floor jack, then lower it onto the jack stand.
Remove the wheel on the side you need to replace the rod end on.
Remove the wheel using the impact gun (or wheel wrench). With an impact, you don't need to loosen the nuts on the floor first.
Make a mark on the tie rod to pinpoint where it is adjusted to. You will need that as a point of reference when installing the new one.
After making a reference mark, using a 19mm wrench, remove the nut holding the ball joint of the tie rod. You may use a 10 mm wrench to prevent the tierod end from spinning in the same direction as your torque. Then, remove the joint from the hub, and use two wrenches to remove the tie rod by turning the nuts on the rod.
Install the new tie rod. Please pay attention to the reference mark you made, and make sure it lines up exactly.