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OEM Toyota parts or 555 brand? Toyota TREs are pricey but (of course) the best. An alignment ($50) is needed with this. I would say your estimate sounds about typical - not super high or super low. Not a hard job to do yourself if you have a pipe wrench and some PB Blaster, though you will still need an alignment, unless you do that yourself, too. If your drag link is quite loose, it may give you the symptom of bad TREs. Are you sure they really all need replacing?
Make sure they use good quality Tie rod Ends..