We have a 2002 Odyssey and the tie rod is slight loose, would you wait to replace it or replace it as soon as possible?

 

When you say it's loose, what do you mean? The steering tie-rods are double jointed in that there is an inner tie-rod (#1) and an outer tie rod (#11). Because of this, the tie-rods as an assembly are able to roll forward & backward freely. While this action should be quite stiff (due to tight joints and rubber boots #8 & #12), you may still able to roll by the force of your hand. If this is the motion you are experiencing then it could be normal. If one side is looser than the other, then consider replacing both joints on the loose side (in the future).

Now if there is a play in the ball joints themselves (like they lift out of their sockets) then you have a problem that should be corrected immediately.

Also if the jam-nut (#15) securing the inner & outer tie-rods together has come loose, you should go get that taken care of right away.

Alteration or replacement of any of these components will definitely require an alignment.