I, too had funny steering probs, and the PO running the car with warped rotors screwed up the front end components. Changing inner tie rods is a job best left to those who do it every day - the guys in the rebuild shops somewhere. I replaced my rack w/an Autozone rebuilt rack and it cured many...
I'll bet the burning oil smell is coming from your front main oil seal. It's a common seal to replace at the 60K service interval. The seal leaks oil onto a hot catalytic converter just below it; you'll smell it with the vent or heater on, and when you turn off the car. To confirm the seal...