Do you have to grease the inner tie rod before installing on a 2001 5 lug 2wd?
Does it have power steering?
According to my archived spec sheets it was still possible to get non-power steering on a 4-cylinder 2001 Taco.
The closest reference I have is for power steering in the 2003 model year (same generation).
Here (attached) are the reassembly instructions and components diagram for the power steering gear. The components diagram has little black arrows indicating which components are supposed to be greased. There are no such arrows shown for the tie rods.