You have to jack up the side that you're changing, in order to allow the tire to turn out and back to get it set back up. It looks like you're running 37's, yeah, it would have been a good idea to upgrade the tierods before going out. Hopefully you're rig won't end up all over the web like the infamous "H2's Suck" video.
But, if you want advice on changing tierods, you should ask someone more experienced with the procedure like Rox...