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Once the boots on your ball joints tear, the wear to the ball joints will accelerate leading to costly suspension repairs. Tie rods can be inspected by twisting them with your hand, they should be fairly stiff with no looseness or slop. If the boots are torn but the ball joint is still nice and stiff, you should definitely replace the boot and regrease the joint. It's much easier and cheaper than having to replace the entire ball joint.

If you want to do this yourself, it's not particularly difficult, albeit a dirty job.

You'll need a ball joint separator tool

https://static.summitracing.com/global/images/prod/large/otc-6297_w.jpg

This works better than a pickle fork, or using a hammer and a pry bar to break the taper between the ball joint and the upright.

You'll also need a small screw driver, or a set of needle nose pliers to remove the cotter pin holding the ball joint castle nut. Some OEMs no longer use the castle nut and cotter pin, but instead use nylock nuts to secure the ball joint, just something to consider.

Ball joints have 2 ways of seating, some use a spring clip that you have to work on over the ball joint, until the clip seats in a groove. I've found that spreading the spring clip makes it easier to install if you don't have a dedicated tool.

The other way of seating is an internal clip, and to seat this type of boot, requires using a deep socket, or PVC pipe, or some other socket that can fit over the boot and clear the ball joint. Then you use books, or a piece of wood, or some make shift anvil, and with a hammer, drive the lip into place.

If your ball joints are too far gone, then you will have to replace the ball joint, this is more labor intensive and expensive. Some instances require you to purchase an entire new knuckle/upright/spindle. More commonly replacement ball joints that are built into the knuckle/upright/spindle will have a retaining snap ring to keep them from backing out. Most ball joints are made of hardened steel, and tend to be stronger than the spindle, meaning the bore in the spindle tends to distort every time you press in a new ball joint.

Adding to the pain of replacing ball joints is the fact that your alignment will likely be thrown off, since tie rods, and ball joints can and will affect your alignment.

It's much easier to be pro-active and inspect the boots from time to time to make sure they're not leaking grease or dry rotting. Staying on top of this will keep your suspension in good condition for years to come.