Toyota Repair: How hard is it replace rack and pinion in Toyota Avalon, tie rod ends, toyota avalon

Question
Hi I have a 96 Toyota Avalon with about 150K miles on it. One of the boots in the rack and pinion is leaking pretty pretty bad. Is it possible for a home mechanic to change one of these out. Any gotcha's or things I should be aware of or replace at the same time I'm changing it out? Thanks in advance

Answer
It's not exactly an easy job, the subframe has to be dropped down a little to get to the mounting bolts of the rack unit, you will also need a tie rod puller that removes the tie rod ends from the steering knuckles, the steering column can be loosened from the inside, remove the 12mm bolt and somehow lock the steering wheel in the center position, when installing the new rack make sure it's in the center position.