Thanks for the tip Bill. I called my local part store and they have the special tool. Its like a really deep (like 2' deep) socket. One end has different fittings that adapt to the specific tie rod, the other end is for a 1/2" drive socket wrench. The whole thing fits over the tie rod after you remove the outer end.
Replacing the inner tie rod requires the removal of the boot on the rack. The hardest part here is to loosen it. As far as I can remember I think I used a pipe wrench to do this.
Actually, the boot is secured by a clenched metal band clamp. I removed it with a Dremel and a carbide burr, being careful to cut through the metal but not into the rubber boot. Not sure where you would use a pipe wrench in the process.