Yes - the tie-rods are replaceable, yes - I have done it - and I would suggest you consider replacing the rubber gaiter whilst you're about it. Also make sure you get the tie-rod lock when you order the tie-rod because Suzuki does not supply them together.
It's not a difficult task, assuming you have the required tools and experience - if you don't, I would suggest you take it to someone who does - steering is critical to your safety.
You will need a ball joint or tie rod puller to release the tie rod end from the knuckle and also a tie-rod tool (google it) to release the tie-rod itself, along with the normal hand tools - don't forget to mark the tie rod end and count how many turns it takes to remove it, so that you can get it back to a similar position on the new tie-rod.
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93 - 1.3 Suzuki Swift GLX
98 - 1.8 Mitsubishi Pajero iO
98 - 2.0 Suzuki Grand Vitara
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