i've been told the rock krawler tie rock can be driven off a cliff and still stay straight, I'm hoping to install mine soon, but everyone I wheel with swears by them so I'll pass along the recommondation.
also, if thats all you were doing, it cant be that bad. adjust your drag link to recenter the steering wheel, and if you really wanna pony up the cash, get an alignment. I've done far worse with my, replacing the tie-rod is more to prevent having constantly fix your steering than anything. even if its badly bent, you can just adjust the tie-rod to correct the toe-in