you don't have to remove the rack. service manuals always say that. they sell a "inner tie rod tool" that makes this job nice and easy.
http://www.amazon.com/dp/B0002SRGFW/...hvptwo=&hvqmt=
not the cheapest or best just the first one that popped up in
. you slide the tool over the end of the inner tie rod (after removing the outer tie rod) and insert the correct size piece then simply unscrew. if the outer tie rods are ok then you can just break the jam nut loose and spin the inner until they separate, you can do this without even taking the wheels off.