You can do it in the car.
Crack the tie rod end lock nuts, undo the tie rod ends and pop them out of the steering arm.
Cut the cable ties holding the boot to the rack and peel it back exposing the rack.
Turn the wheel to the opposite side to what you are doing. EG if you are doing the RHS turn the steering to the left. This exposes the rack end where it screws into the rack.
Bend the washer tab up off the rack end and using a spanner, undo the rack end. It will be tight. A shifter may be too wide it fit onto the flats on the rack end but most do fit.
Fit the new rack end, making sure you fit the new washer and bend it over, this locks the rack end to the rack.
Remove the tie rod end from the old rack end, counting the turns as you do, and refit it onto the new rack end the same number of turns.
Refit the tie rod end to the steering arm.
Repeat for the other side.
Get a wheel alignment done.
