They are seperate from the rack and pinion, but it'* a bitch to get out. It'* different from the outer joint as well , here are some basic directions after going over the FSM just to see what you're getting into.
To remove or disconnect the inner tie rod
Remove Rack & Pinion assy
Disconnect both Rack & pinion Boot/Breather Tube
Remove shock damper from Tie rod and slide back onto rack
(rack must be supported during tie rod removal to protect rack)
THen remove the tie rod with wrenches.