Its easier with the engine out, but not essential.
Hardest part is probably going to be removing the steering shaft, they're normally really tight and seized. Nothing a hammer can't solve, but its a pain. However if its greasy, then it might be ok.
Then you have to remove the track rods from the knuckles, and there are 2 clamps bolting the rack down.
Whilst you're down there I'd consider some stiffer bushes.
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