How long do you think it will take to replace both inner and outer tie rod ends?
Any specific things I need to know that will help me out?

 

They're easy to replace, the trick is to get them installed at the same length as the originals so your alignment isn't too far off to drive to the alignment shop. Moog makes good replacement parts. The inner tie rod should be loctited to the steering rack. Don't abuse the steering rack by over tightening the inner tie rods.