Told to replace tie rods and EPS pinion rack for 2400$. Advice?

The electric motor drives gears that power the shaft. Those gears need lubrication. Apparently the gear oil (maybe grease?) is leaking.

 

I think your "feeling" probably is mostly right.
Front end work is a common target for "selling" unnecessary work at inflated prices.
Get at least one other evaluation.

 

firestone is the worst. how many miles on her?

have you owned since new? always a florida car?

 

It's November and the owner's looking at the haulout charges from the marina.

Or maybe that's not how it goes in FL?

 

Florida is an extremely big place. If we knew your location more precisely, we might be able to suggest a better shop. There's one near me that has very good prices, especially if you want used parts. He doesn't do alignments, but he does specialize in Prius.