Hey, fun trail day! Glad you got out and back, but it's not that dire other than wearing tires if you were forced to drive it extended distances that way.
It used to happen a lot more, but two things changed. The harder the off-road expectations, the stronger the steering upgrades most were willing to pay for. The second was that most newer Bronco owners have no intention of ever going off road. Certainly not in a place that would taco a tie-rod.
The cure for my buddy and me on the Rubicon once was to borrow a crowbar from a guy in a dune-buggy and yank it straight. Plenty of Hi-Lift jacks have been used as "benders" to get a rig back down the road too. Or you could land it on a rock in the opposite direction, when that's a feasible solution.
After all, necessity is the mother of invention.
But the "cure" in this case is to get a new one. Whether you go with stock, or upgrade to stronger depends on whether you're going to keep wheeling, or have bigger tires, or just plan to get your tires wedged between two hard places very often.
A stock one was decent for it's day and the size tires that Ford put on them. The best initial upgrade in my opinion is the ones most of us vendors sell that fits the same stock setup, but is much beefier. Both in material size, and material makeup. Such as this from us at Wild Horses:
http://www.wildhorses4x4.com/product/Tie_Rod_Drag_Link_3way_Adjustable_6675yr/Custom_tie_rods
You could reuse your existing draglink it looks like, but if it's older and needing replacing anyway, definitely go with an adjustable one like shown in the pic. Gives you WAY more versatility when changing ride height for keeping the steering box perfectly centered when going straight down the road.
Larger upgrades are available for the main tubing, such as with some of the "GM 1-ton" setups, but then the weak link becomes the passenger side tie-rod end. And the design is such that the draglink is now longer than the trackbar (not optimal) and the draglink mounts to the tie-rod facing straight ahead (also not optimal) instead of how Ford had it to reduce the instance of the tie-rod "rolling" back and forth when steering.
You running the 35" tires in you sig? If so, I would definitely not go back to stock.
Paul