Your is worth 1k, you don't have to do these

If your steering is shaking and ruled out possibility of bad tires, rims, or guide rod mounts, that might be your tie ends worn. At that time you are recommended to replace tie rod ends. If tie small boots are seen being broken, you can just replace the boots, typically $2/pc, total 4 of them, so $8 in parts.

For lower ball joints, most people don't know they are bad, until one day people go to do alignment. Before doing alignment, they will ask owners to change ball joints first. For your case, if you don't feel bad, just keep driving, it won't cause major issues, loose is loose, so what?

If I were you, I'd keep it as-is, until couple years later you change to another car. If you can DIY, and you think it can last more than 5 years, sure do these, for parts only about $100 or less.