For anybody who checks this out later, the rack is actually pretty easy to remove and replace. It took us about 3 hours of work to get the old part out and the new one in.
Here's what we did:
-jacked up the truck, put it on jack stands and removed the wheels
-removed outer tie rod ends
-disconnected sway bar from frame and driver side
-loosened sway bar link on passenger side, then swung the sway bar out of the way
-removed bolts nuts/posts for rack
-removed lines from rack
-pulled passenger tie rod to extend rack/shorten driver side
-rotated rack and pulled it through the passenger side opening of the cross member till driver side tie rod was through
-pulled out rack assembly from center portion of the cross member
Installation was pretty much the reverse of that, we just lowered the truck back onto it's own weight to re-attach the sway bar.
2004 Ford Ranger Edge manual 4.0 4x4 with 3" Body lift, 33x12.5 BFG A/T KO's, on Eagle Alloy 057 rims, and alot of mods
2011 Ford Mustang GT 5.0 manual with no mods yet
2005 Ford F250 automatic 5.4 4x4 with no mods