Will this work with my existing tie rods and steering components?

Yes, the ball joint interfaces with stock tie rods and steering linkage. No modification to those components needed — it's a direct swap at the frame mount point.

Do I need any fasteners to bolt this on, or are they included?

Hardware not included with the arm itself. You'll use the existing bolts and castle nuts from your original control arm during installation — no additional fasteners required unless yours are damaged.

Should I get both driver and passenger arms, or just one?

If you're running a lift kit, replace both front upper control arms to keep suspension geometry even side-to-side. This prevents pulling, uneven tire wear, and handling problems down the road.