I'm pretty sure (though not 100%), that Toyota UK don't supply inner tie rods to anyone other than authorised Service Centres. So if it is the inner tie rods, the only option other than having the problem investigated and resolved by an authorised Service Centre, would be to pick up some rods from a scrapper. The problems with that however are three-fold; First, it'd take a lot of time and messing about to remove the rods from the scrapper without damaging them. Second, it'd be impossible (visually) to know for sure that the rods from the scrapper weren't damaged either. Thirdly, you could go through all the messing about, fit the rods from the scrapper, and then discover that still hasn't resolved the problem.
Unfortunately I suspect there's no worthwhile shortcut to resolving the problem yourself. It sounds like the only surefire way of addressing things would be to take it in, and have the problem diagnosed by an authorised Service Centre (regardless of it being an import, grey or otherwise). If it's any consolation, it is worth remembering that any respectable/half-decent authorised Service Centre shouldn't charge you for diagnosing and/or confirming the problem. Also, you'd have no legal obligation whatsoever to have the work carried out by them. So in any case, you might as well at least use them to confirm 100% what's causing the problem, and then make a decision from there.
Keep me posted anyway.
Cheers, The Manxman.