It gonna be hard to do without a lift. the connection on the rack n pinion gives you no room to break the connection loose. I would rack car. Disconnect steering joint from top of rack n pinion, support back,rear of sub frame with tripod stands remove 2 bolts from rear sub frame mounts raise lift slowly to lower sub down couple of inches that should give you enough room to disconnect pressure hose connection it may run along rack and there may be a heat protection shield there.then reassemble. naturally the connection at the pump is easy enough. now this is necessary for v6 models.4 cylinders you may be able to cheat and get the rack connection from under hood with a flare crows foot 18mm on a u-joint on a long 3/8 extension.NOTE: When you disconnect the steering knuckle(joint) DO NOT let steering wheel rotate you will break clock spring for the airbag. if you start up after done with repair and airbag light on you broke it there goes another $100 bucks. Hope this helps
Auto DracoCat It can be done on ground with jack n stands/ramps
but makes a tough job to do.