Its not uncommon for a car to need new tie rods. I would take this opportunity and upgrade the tire rods to a HD design like HP Autowerks sells. Or you could even use 1M tie rods.
http://hpashop.com/BMW-E8X-E9X-Z4-HD...Rod-E8x-9x.htm
You should also have a shop check out the ball joints - bc they will also wear(out). Especially the right side, since the roads have more pot holes on the right sides.
Any wheel alignment shop can replace your tie rods and do a new 4wheel alignment.
You can reset your CBS oil change light yourself. Just follow my DIY.
DIY resetting service "due" lights…
http://www.1addicts.com/forums/showthread.php?t=415111