Yeah, I have the tool to pull off the inner tie rod ends and I can only say you dont want to attempt it without it. With it, its a piece of cake.
You can replace it on the car, you would need to disconnect the outer tie rode end and then remove the outter tie rod end form the inner tie rod and then use the special tool to undo the inner rod. You would also have to take off the boot that protects the inner tie rod connection and those use clamps like those on the CV joints. Putting a set back on will be no easy chore with the limited space, so when I did mine I just use regular worm gear clamps. You could probably get away with zip ties, but I wont say that for certain.
Its really simple if you have the tool to do it. The tie rod tool is nothing more than a super long deep socket. Mine has different bits I can use to accommodate different sized tie rod connections.