Rack and pinion boot replacement

Paul, you would have to drop the tie-rod end, then split the tie-rod end from the rack end. Sounds easy enough but a PITA unless you have the right tools and you will have to align the steering after. Here is an interesting idea, not sure if it would work for you. Here is the official version :"

1. REMOVE FRONT WHEELS

2. REMOVE ENGINE UNDER COVER LH

3. REMOVE ENGINE UNDER COVER RH

4. DISCONNECT TIE ROD END SUB–ASSY

(a) Remove the cotter pin and nut.

(b) Using SST, disconnect tie rod end sub–assy from the steering knuckle.

Toyota tool SST 09628–62011

5. REMOVE TIE ROD END SUB–ASSY

(a) Place matchmarks on the tie rod end with rack end.

(b) Loosen the lock nut, and remove the tie rod end and lock nut.

6. REMOVE STEERING RACK BOOT NO.1

(a) Remove the steering rack boot clip.

(b) Using a screwdriver, remove the clamp and steering rack boot"

Hope this helps, good luck.