RCR Rack n Pinion Removal?

The rack and pinion isn't in the footwell. The pinion from the rack just pokes into the footwell, and the entire rack (and pinion) can be removed by unbolting the ends (bolts through the footwell) and a mounting bracket under (or over) the gearbox of the R&P. Then loosen the clamp that holds the pinion to the steering rack and the rack will come out.