Some things need to be straight. Especially things that rotate, like steering column shafts, driveshafts, and axle half shafts. But those tie rods don't. There's no reason to think that there's anything wrong because of the shape. They might need replacing, though. The one in the lower photo appears to have a mangled seal and dirt could be getting into the cup. The fact that each bend is symmetric to the other is a clue that it's intended.
I can't remember that exact application but am pretty sure that is how they are made. Do a search for that/those tie rod ends and see what the photos of replacements look like. That should take about 30 seconds to a minute.
Tie rods, drag links and panhard bars don't need to be straight. In fact most have some bend to clear other parts through their range of motion.
so turn the steering wheel to the end of it's travel, see if it looks like the bend needs to be there.
Update: I actually found a video on line of a guy lowering a 39 Poncho. One clip shows the complete steering linkage removed and laying on the floor, and I can see both tie rods with the same bend as mine. I'm kind of glad I didn't straighten them...lol