Driving on borrowed time?

My 2011 Crewmax TRD 2WD is approaching 194k miles. Within the past 18 months I've replaced both front wheel bearings, carrier bearing and all U-joints as well as the Bilstein shocks and struts. None of the ball joints or the tie rods have ever been replaced. This is road/street driven truck only in North and East Texas (no salt) so only normal wear and tear. I'm all for preventative maintenance but not on an unlimited budget. At this mileage and age should I be planning to replace the ball joints and tie rod ends out of an abundance of caution, or just wait for obvious signs of wear to exhibit via standard wheel checks?
On a 2011 2nd Gen what kind of costs should I plan for if I replace upper and lower ball joints and tie rod ends? I've done nearly all maintenance on this truck and all of our other vehicles, but never these specific items. If I take on the task are there any tips or recommendations to consider? I'll only take the truck to the local dealer if absolutely necessary and I don't know of any reputable 3rd party shops here in the Tyler area. TIA for any guidance!

 

LAPS will have loaner tools to do the job if you wanna tackle it. Go OEM on replacement parts, they are (obviously) good for almost 200k miles. Aftermarket parts will fail quickly and you’ll be doing the job again. That said, check for signs of play in the joints to see if they need replacing or not. Toyota uses very durable and long lasting parts compared to other manufacturers. You may have another 50k left in those originals!