Changing the rag joint is straightforward, but can be a pita. It will take 3-4 hours or so.
To remove: Take the cross bolt out of the intermediate shaft, kinda up by the brake booster. Then take the clamp bolt out of the lower section of the rack adapter part of the joint.
The intermediate shaft should then slide up into the upper shaft enough to pull the lower half back off the rack input shaft. Mark the alignment of the rack adapter and rack shaft before you take it apart, also the intermediate shaft to upper shaft and such. You will probably have to turn these to get to stuff. Then pull the intermediate shaft and rag joint out of the car. It may be necessary to remove the bolts that hold the colunm under the dash. This lets you drop the column to pull it back if you cant slide the intermediate shaft up enough to pull it off the rack.
To remove the rag coupler, you may have to grind off the rivets, etc, and replace them with the bolts in the Help kit. Put it back together and reassemble. Make sure to get the bolts and pins that steer if the rag fails, etc, all lined up. I had to grind some bolt heads on one that I did.
Put the assembly back in the car, intermediate shaft into the upper shaft first, then align the lower coupler onto the rack shaft, and install the clamp bolt, etc, etc.
If needed, you can unbolt the two rack mount bolts to pull the rack out of the coupler instead of removing the colunm. Most of the time you don't need to pull either, but....
There are a couple of sizes of rag joints so make sure you get the correct one. Jack the car up safely, etc, and be careful.