Given that the tie rods push and pull the steering knuckles. And, given you are saying there is a lag between steering input and road wheels turning, and given you are saying that your tie rod ends are damaged (torn boots). I would suggest getting it to an alignment shop and get a proper diagnosis before you start throwing money at parts that may not be the problem, unless you want to fix anything that is worn. Idler arm can also be the culprit, but I would suspect the tie rod ends.
2000 Dodge Grand Caravan SE
No matter what you fix, there will always be something else to fix..
"Warranty" is just another way of postponing the inevitable.