93 Dodge Grand Caravan 3.3

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

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ncs
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