The tie rods are part of the steering system. They extend from the rack and pinion unit which is a long silver tube with black dust boots on each side. The tie rods are at the very end (yellow arrow). They bolt through the steering knuckles and are held in place with a castle nut and kotter pin (red arrow). This picture is a view of the driver side. It was taken after the lift was installed so some of the components may not look exactly like yours.
Remove the kotter pin and unscrew the castle nut. To disconnect the tie rod you will need to strike the steering knuckle with a large hammer to dislodge it.
Use extreme caution not to hit the threads on the tie rod end or you will damage it!