Is it possible to replace the inner tie rod without removing the whole assembly? I see that there is a tool that supposedly allows you to do that but how?

 

please define "the whole asm!"

you have to remove the outer tie rod and the tie rod boot with its two assoc clamps. Then you will have to push back a plastic cover and unscrew the tie rod.

I would suggest trying to get ahold of another new stainless steel clamp for the boot. it might leak otherwise. they only come from the dealer and are expensive unless you get a replacement boot from another store.

 

I was looking at the service manual and it says you need to remove the steering gear from the car to do the inner tie rods. I'm just hoping that isn't the case.

 

not a bad job without removing the rack

 

I wouldn't ever remove the rack as when it is mounted it is easier to install and remove the tie rods.

The only thing you have to remove is the inner tie rods, tie rod clamps and boot, and maybe the sway bar if it interferes with your tie rod wrench.