93 Dodge Grand Caravan 3.3

[ncs]

The last time I replaced the steering rack, I knocked out the pin from
underneath the car to free it from the steering wheel. Is there a way to
release the rack gear from inside the car and then remove the pin once it's
off the vehicle ?
It's a pain trying to get it out and just wondered if there was an easier
way. I don't have a lift, so I'll be laying under the car.

Thanks,
Nick