Tie rod ends should be twistable by hand. What they shouldn't be is loose enough to feel play when you wrap your hand around them and have someone else turn the steering wheel back & forth. Same for the center link and idler arm.

The roll in park is normal, as Ali says.

Tranny noise when turning? Sure it's the trans?

My 260E has 218,000. Familiar territory.

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Norm in NJ
Next oil change at 230,000miles