That is a terribly misleading video. The tie rod can twist like it shows, and is supposed to. There is ball joints on both ends, all your doing is moving the ball joint in its normal range of motion.
What you need to do is take the weight off the tires, grab the tires and firmly try to steer them side to side in short movements while having someone else feel the tie rod end joint for play. The other way to do this is to leave it on the ground and have a partner turn the steering wheel side to side, once again in short movements and feel if there is any play in the joints.
The boots will appear compressed, that is also normal.