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yes you possibly can ( depends on the room available.)
I would do the centring at the top of the rack and pinion as this is where a multi spline is that will allow for correct centring.
when you get the shaft off the box
firstly turn the rack from lock to lock ( wheels of the ground) and position the shaft at the midpoint of the turns counted fro left to right
next with the steering wheel place it in the straight ahead position
put the shaft back on the rack and tighten up the lock bolt
Now you can't use gearbox in in power steering system this will block valves and the grade is very different .You can use automatic transmition oil , but it's recommended that you see if it's not hydronic oil as some makes like audio use special hydronic oil
In rack and pinion steering, they are long and tube like to look at, the wear that takes place that causes play is the rack ends. You have to take the boots off and unscrew the rack end, always fit new units . With recirculating ball steering boxes, you adjust the end play on the sctor shaft on top of the box with the wheels up off the ground, make sure that there are no tight spots when you spin the steering wheel from lock to lock as you adjust the play out.