Of course you can change the boot and the inner and outer Tie Rods without removing the rack.
My post referred to the BOOT. I replaced both the inner and outer Tie Rod. I bought a cheap boot FOR $4 and could not get it on. I broke more **** trying to install it . (THE RACK WAS NEVER REMOVED.)
The job took a lot longer because I had to replace the Power Steering return line after I broke it.
The more expensive boot is rigid and does not require a contortionist to install it. The extra $40 for the better boot is well worth it. It is rigid and slides right in place.
