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if it is like the two 97's that I did the boot comes off with 3 bolts from the inside of the car. You can slide the boot up the steering shaft and you should have all the room your need. connecting and disconnecting is done in the car.
 

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Just to make sure we are talking about the same thing here. You are trying to connect the bottom of the steering column to the steering rack?

No need to move the carpet, remove the dash, or drop the back of the subframe. If you remove the boot from inside the car you will have all the room you need. The bottom of the column has u joints and a slip joint in it and has all sorts of play with the boot removed it shouldn't take more than 5 minutes to connect. You may want to have the key in the ignition so the wheel won't lock while you are trying to reconnect it.
 
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