I just went through this on my '92 300E. Prices you were quoted are crazy.

I wouldn't buy the ends. Buy brand new rods. This replacement is going to be good for a long time. The three tie rods are cheap, something like $40 each and maybe $50 for the center rod. Definitely get the steering dampener. Also I would get idler arm bushing kit.

Personally, I wouldn't want to be hammering a pickle fork on my suspension.
You need the proper removal tool, easy to find on the net, or maybe rent one. The kind with the bolt that presses the tie rod shaft out of the steering arm.

I would also caution you about taking the car to just any old alignment shop.$ 127 is high, but it varies by area . $79.95 at my MB dealer, but they do the job correctly, with the spreader bar.

Steve