[cdvs]

I just did this.

Jack up car, remove wheel. Marking the location of the tie rod end and locking nut will allow you to get the alignment close, but you'll still need an alignment to be sure.
Loosen the tie rod locking nut. Remove tie rod end from hub. There is a Cotter pin and castlated nut. It is a friction fit and you may need a ball joint tool, but it may break loose if you install the nut upside down, level with the end, so no damage occurs to the threads when you hit it with a hammer. Remove the tie rod end from tie rod. Remove the locking nut.
Remove clamps or wires securing boot to rack from both ends of boot, remove boot.

Install is reverse. It helps to shorten the amount of rod on the side you're working on by turning the wheel when fitting the inner side. I used a hair dryer to soften it up as well.

Good luck!