Inner Tie Rod Replacement
 

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!

Pretty easy and straight forward job. Purchase the complete tie rod. You can probably do it yourself if you have a way to get underneath it. I have seen them changed without doing a follow up alignment (must make sure new one is same lenght as old one). It would be better though to plan an alignment.