The rack ends, which go from the rack to the tie rod ends are easy as... they just screw in!
There is a lock washer, you need to bend the pins out before you can crack the thread, you'll need new ones. But yeah, after you bend the lock washer pins out, steady the rack then undo the rack ends, make sure you dont put to much pressure on the ps rack at any time.
Try to have as little of the spline out of the rack as you work on each end.
There is no special tool for this...
aZk.