So today on my lunch at work I was looking underneath the car just to check things out and I noticed that the boot on the inner tie rod is torn and the grease is all spun out everywhere underneath...so my question is if I had this repaired or did it myself would the whole inner rod have to be replaced or can it be re lubricated and just put a new boot on...there'* really no driveabilty symptoms but I would like to fix it before there is...it is a 2005 sle with 130k on it and runs perfectly...thanks to anyone with suggestions

There really is not enough grease there to even come out at all, the boot on the inner tie rod is more of a dust shield then a boot to actually contain grease. If the inner tie rod boot is torn, then a replacement would be needed, which will require separating the outer tie rod from the inner and swapping boots out. If you pay close attention to the number of turns the tie rod takes to come off and go exactly that number back on you wouldn't need an alignment.

The grease that you see that seems to have spun all over the place would have came from a bad boot or a loose / missing clamp on the inner CV axle. While you can get repair boots for them, I haven't really heard much good about them, most people just swap in another axle.