Inner Tie Rod Replacement

[billwrb]

My 1993 500SL failed Pa. inspection. Goodyear dealer says it needs a left inner tie rod assembly R&P. I don't know what the R & P part is. Am I looking at a big deal here? Expensive? Should I trust a Goodyear chain to do it? Will I need a front end alignment after the tie rod is replaced? Should I let Goodyear do that? In Pa. one's car can't pass inspection if there's any play in the front wheels. Car seems to drive fine but must pass inspection to be driven. Please help soon! Must have car inspected by 8/31 or it can't be driven!