replacing inner tie rods on Ford Ranger

1999 Ford Ranger, 3.0 liter V6, 2 wheel drive, coil spring front suspension.
I plan on replacing the inner tie rods on my Ranger. My question is: Do I have to remove the steering rack, as my Ford factory manual states to change the inner tie rods? It looks to me as if I remove the outer tie rod ends and the boots (bellows) I would have enough room to unscrew the inner tie rods while the rack is still on the truck. Thanks, billj

There is no need to remove the rack and pinion. easy replacement just as you stated in your post, then have aligned afterward.

Thanks for the reply. Looks like an easy enough job.