Its not going to be easy, but it is doable.
1) In engine bay, lift up the boot till you can see the UJ, then unbolt &
remove nut & bolt holding the universal joint to the rack
2) try to pull the UJ off the rack, if it wont come off remove bolt holding ignition lock housing to outer column slieve (this may be an allen bolt, or a shear bolt) then pull column up till the UJ pops off the rack
3) swap boot and put it all back together
