The inner rods do wear out. It took me about an hour to do each side. The plastic boot needs to be removed to work on the RE&RE of the inner rods. I also replaced the outer tie rods of course. Then I got a Toe in check and adjustment, which is all you need to get done at an alignment shop. Allow 3 hours to start and finish.
Oh yes and by the way it takes longer than 20 min. and futhermore $350. sounds about right if you have it done by the dealer.
