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Pulling out the rack is not much fun. The U joint is going to be easy compared to actually getting the rack out and one back in. Schedule 1/2 a day for it at minimum. You will need either a 17mm or 18mm socket to remove the bolts holding the rack to the firewall. When you get your original rack out, set it next to your replacement rack and measure the tie rods and adjust the replacement tie rods to match in length to the original one. That way your alignment shouldn't get too far out of whack when you put your replacement rack in. Also if you want your steering wheel to stay close to center be sure to make the matchmarks like your diagram shows then when you have the original next to the replacement if you are careful you should be able to put a new matchmark in the right location on the new rack.
For me when I pulled my rack, I found it was easiest if I just removed the flex pipe for the exhaust and the crossmembers that run under the engine first.
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90 Lexus ES250 Auto, 90 Lexus ES250 Stick, 88 Camry LE AllTrac Stick, 88 Camry Wagon

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