Hi James, I would say that has won the award for most expensive tie rod repair quote in the history of ever! If you have tie rods that need replacing, which sounds like you do, go to rockauto and buy a new set of inners and outers and replace them yourself. They are not that bad to replace. As far as the lift causing the issues, someone may be able to help you with that but you will have to provide a little more information on the truck and the components in question. 2wd? 4wd? what kind of lift components?
If I recall correctly, some lifts require the outer tie rods to be swapped after install. Right to left and left to right. Could be your issue?

 

If it's 4WD you may have CV axles with torn boots. While being a PITA to replace them, it's not a $2500 repair. I got them both done in my driveway one afternoon with a helper.

 

2500 can't be for just tie rods - you need better info on what they are quoting and get 2nd opinion

 

like mentioned above if you're mechanically incline you can do the install yourself. you will need to rent or borrow a tool to remove the inner tie rods...I forgot what it's called. does your steering wheel have play? we need more info on your truck really