My inner tie rod ends rubber boots are full of fluid

Power steering fluid should not be present in the power steering rack boots unless the steering rack seals leak. As for replacing the inner tie rod ends to replace them the outer tie rod ends and steering rack boots need to be removed but a special tool is needed to remove the inner ball and socket part of the inner tie rod end. Snap On, Matco and I think KD tools make a tool for the after market service and repair.