I literally just pulled my rack off this morning. Second time I have done this. Some useful tips I can give.
-Remove the sway bar. I think you probably have to, to get the rack off. But even if not it will surely make the process much easier.
-The steering shaft joint that 4running daily is talking about can be a pain if it sticks due to rust. Rust is just the worst, as I think Nelson knows better than anyone. Soak that joint with penetrating oil ahead of time.
-Unbolt all 4 bolts/nuts holding the rack on and slide it out a few inches before attempting to remove the oil lines. This will make them much easier to access.
-Make sure you have an oil pan to catch the oil when you do remove the oil lines.
-Remove the whole thing (steering rack, inner and out tie rods) together as one unit.
-So in order, remove skid plate, sway bar, pound tie rods out of lower ball joints, remove all bolts holding rack, slide it out a few inches, remove oil lines, then last pull it apart at the steering shaft that has been soaking in penetrating oil.