Whatever you do, disregard the first answer. You dont remove the rear diff cover nor change the fluid, and you are a ten year Lexus tech? Glad I dont take my car there, that's hilarious. Remove front wheels, loosen adjustment nut between inner and outer tie rods, remove outer tie rod, disconnect the two power steering lines at the rack, remove the steering shaft from rack, remove four bolts holding rack to frame, and remove rack. Install is pretty much the same just make sure to bleed it properly and have an alignment done afterwards.