24 years with out changing - should I change out the tie rod end to the Pitman arm (see photo)?
I am guessing yes but no point on doing extra work and buying more parts if not really needed.

 

I changed mine when I did the other steering components and I can tell you that my XJ’s steering feels as tight as my wife’s 09 Honda Pilot. I think that part is only like $30 if you DIY.

I replaced all of the tie rod ends, the track bar, steering stabilizer, had the box adjusted, all four ball joints, wheel hubs and replaced the steering shaft then had an alignment.

Maybe I went a little parts cannon on it, who cares. I went to the shop and told them I wanted it to steer like a new car and that’s what they recommended and that’s what I did.

 

and it steers like new? - EDIT - You already said it steers like new .. like your wife's car. Thanks.

 

At 24 years old, even if you think it looks ok, you may as well just change it. I did all 4 ball joints a few weeks back, only to find that my TREs were all shot. I figured I might as well upgrade it, and for 80 bucks I got the whole Grand Cherokee setup. Tie rod, tie rod ends, drag link, etc. It's all a direct bolt on and looks much better compared to the wimpy stock stuff.

https://www.ebay.com/itm/4-Piece-Inn...53.m2749.l2649