Disclaimer: Use this guide at your own risk! TN and I assume no responsibility for any damage to your vehicle or personal injury as a result of following this guide.
1.Engage the Parking Brake and block the rear wheels. Jack up the car and set it on Jack Stands.
2.Remove the front wheels.
3.Remove the cotter pins on the outer tie rods.
4.Loosen the outer tie rod about 3 threads.

5.Hit the steering knuckle under the outer tie rod until it pops out.
6.Count the threads on the inner tie rods. I wrote the amount of threads on the outer tie rods in sharpie.

7.Loosen the jab nut from the outer tie rod.
8.Remove the outer tie rod and jab nut.

9.Remove the clamps from the rack boot. The larger one needs to be broken. I used a long screwdriver and hammered the little clip until it broke.

10.Remove the boot.
11.Bend the lock tab out on the inner tie rod.
12.Loosen and remove the inner tie rods, I didn't have to use the special tool. They are not tight, an adjustable wrench and channel lock pliers worked fine. For the V6, on the driver's side I had to remove the air intake, on the passenger side the power steering pump had to removed and moved out of the way.

(Originals were trashed)
13.Install the new inner tie rods, I didn't install lock tabs, it was impossible for me to bend them so I bought red strength thread locker and put alot on the threads. Then tighten with an adjustable wrench.
14.Reinstall the rack boots, I used a worm gear clamp for the larger clamp, much easier to work with, install the smaller clamp too.
15.Install the jab nuts, make sure the amount of threads is the same number you wrote down.
16.Install the outer tie rods and try to get the wheels as straight as possible with the steering wheel.
17.Install the nut and cotter pin on the outer tie rods.
18.For the V6 install the air intake, ps pump and belt.
19.Torque the wheels to specs.
20.Go for a test drive and enjoy the new tight steering and no clunking.
21.Don't forget to get an alignment.