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This is a tough call. No one is going to assure you that it is safe. Tie rod ends and ball joints are made to get pretty loose before they break apart completely. I have had ball joints and wheel bearings so bad that I could feel the wheel wobble, but bad tie rod ends was something I could hear when parking, but not feel when driving. That suggests that I have never driven one as bad as yours is now. That scares me a little.
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