Its pretty easy to do on the car. Check the section that threads onto the rack, if the tie rods were installed correctly the last time the ends should be peened. You may need a small chisel to break that section off (sounds difficult but its very easy) to unthread the tie rod.
There is a tie rod removal tool available that makes installation and removal super easier if your willing to lay out the $50 for something you may use 2-3 times in your wrenching lifetime..
Inner Tie Rod Removal Set
I have a set and it makes it super easy to do.