There is no interval maintenance schedule that recommends replacing tie rods or tie rods ends before they expire. In other words, if it isn't broke, don't fix it. Tie rods and tie rod ends should be inspected every time the vehicle is lifted since the inspection is quick and easy.
Replace the tie rods only when there is play in them. If grease boots are compromised, you could replace them then even if there is not tolerable play because they will soon become contaminated and require replacement.
Because there are no expensive or hard to get tools required for this job, it is something that just about anyone can do. You will want to make sure that you are experienced at replacing tie rods or follow the instructions of someone who is (perhaps even using an instructional video), but this is a fairly simple process, and it should give you a lot of trouble if you want to cut cost by doing the work on your own.