[s-cars] Tie rod ends

[JR]

I'm getting quoted over $300 to replace both tie rod ends in the front 
of my URS4.  They want to charge $99 for each tie rod end just for the 
part and then $60 for each install.  I checked S-CARS Parts Direct and 
they only want $28 each for the part.  My question is this: How hard is 
it to replace these if I want to do it myself?  For reference I've done 
both front lower control arms and did my own timing belt/serp belt/water 
pump, so I'm not afraid of a wrench.  How long should it take me and do 
I need any special tools?  Anyone have a write-up that I can use as a guide?

Thanks,

JR