Loosen the lug nuts for the wheel where you will work on.
Raise the car using the floor jack, then secure it with the jack stand.
Remove the wheel on the side you need to replace the tie rod end on.
Remove the wheel using the impact gun.
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, remove the nut holding the ball joint on the tie rod. Then, remove the joint from the steering knuckle, and use two wrenches to remove the tie rod by turning the nut on the tie rod.
Install the new tie rod. Please pay attention to the reference mark you made, and make sure it lines up exactly. You will still need front-end alignment, but this allows you to be as close as possible to the recommended specs.
Put the tire back on. Use the impact to tighten the lug nuts in a criss-cross pattern. Be careful not to strip the lugs.
Remove the jack stand and lower the car so there is some weight on the wheel. Torque the wheel nuts to the recommended specs.