How do you replace inner tie rod ends on a 2003 Toyota Echo?

To replace the inner tie rod ends on a 2003 Toyota Echo, first, lift the vehicle and remove the front wheels for access. Disconnect the outer tie rod ends from the steering knuckles, then use a tie rod end puller if necessary. Unscrew the inner tie rod ends from the steering rack using a special tool or a wrench, and replace them with new ones, ensuring they are securely fastened. Finally, reassemble everything, align the wheels, and check the steering alignment.