I don't recall seeing a DIY for replacing the rack-n-pinion on here.
You will definitely need power tool as two of the three mounting bolts require 110 lb of torque. You will need ball joint tool to separate the outer tie rod to the knuckle. Separating the steering column lower shaft linkage to the rack takes quite a bit of time. Removing the 12mm cotter bolt at the steering column lower shaft is straight forward, but remove it from the rack can be quite a PIA. You also wanted to strap down the steering wheel to prevent is from spinning freely before separate the steering column lower shaft, if the the steering wheel allow to spin freely, it will break the spiral clock spring. No need to remove any sub frame or exhaust parts.