most of your noise when turning sharp is probably your steering stops, there is a plastic cap over them that wears out quickly and no real fix other than to keep lubing them with grease and replace them when they wear out.
Just replacing your tie rods and ball joints because you believe they are worn out can get very expensive, check them first and get an alignment if they are tight (or after you replace them).

 

A common theme in a lot of the advice given here is "don't replace something unless you know it's broken." Here's the manual for checking the ball-joints: http://web.archive.org/web/201204242...28balljoin.pdf

Checking the tie rod ENDS is even easier; with one wheel jacked up, push the it back and forth and watch the tie rod end.

As akwheeler points out, uneven tire wear is more likely to be caused by bad alignment (either toe or camber can cause it). If your ball joints and tire rod ends pass the tests, have an alignment done.

 

I agree with the above.

What vehicle are you working on? Engine? Transmission?

Check the joints as Scope103 pointed out. If everything is tight and nothing warrants replacement, go and get an alignment.

If parts do need replacing, replace those parts first, then get an alignment.

How worn out are your tires? Is it time for new tires?

Toyota parts are best, and last a long time.

 

Seconded and thirdED ^^^
It's easy to check / inspect those parts. Procedure is easy. Just need an assistant.
An example of what you would see: