Does the rack and pinion need to be removed to replace the inner tie rods on my 2006 Sienna?

There are inner and outer tie rods that can be replaced. The inner tie rod disconnects under the boot. They rent tools to get the inner tie rod off.

Yes just count the turns as you remove it.

No, the boot only keeps dust out of the inner tie rod joint--it is not intended to hold back fluid. The rack will have to be rebuilt with new seals. Sorry. :o(

the inner tie rod is the joint right at the end of the rack,inside the gaiter/boot,the outer is called the track rod end.

You will need to rent or borrow in inner tie rod tool but here are the directions.
1. Break the jam nut on inner tie rod to outer loose.
2. Remove nut from outer tie rod attaching it to steering knuckle.
3. Use hammer to get tie rod out of knuckle.
4. Unscrew outer tie rod then jam nut
5. Remove clamp from boot and slide off inner tie rod.
6. Using side cutter or hammer and chisel break off metal clamp on the inside of inner tie rod boot.
7. Using inner tie rod tool, unscrew inner tie rod from rack and pinion
8. Reinstall parts and have it aligned

Yes. If it's to correct alignment, the inner tie rod shaft has to be moved into your outer tie rod and then tightened. this is all done from the wheel area.

If it is to correct play in the steering, then this should apply.

The inner tie rod connection to the Rack unit is hidden by the rack boot which will need to be removed from the Rack unit but not completely removed from the shaft, just pushed over out of the way while working on the inner tie rod adjustment. The large nut on the end of the inner tie rod will have to be loosened & checked, for any damage, then reinstalled & tightened to the correct amount necessary to cause sufficient drag on the inner tie rod but not too much to restrict it during normal use.

You may even want to consider a remanufactured Rack unit if you have too much slack in the steering. Tightening the Inner Tie Rods doesn't replace the seals & rebuild the remainder of the Rack & Pinion, yet these parts all have the same amount of wear on them that the Inner Tie Rod does.

Manuals available w/step by step instructions for your vehicle at parts stores. good luck

i think steering gear has to be removed to get rubber bellows off to access tie rod.

Section 11-02: Steering System, Power 1997 Continental Workshop Manual
DISASSEMBLY AND ASSEMBLY Tie Rod and Bellows SPECIAL SERVICE TOOL(S) REQUIRED Description Tool Number Bench Mounted Holding Fixture T57L-500-B
Disassembly

1. NOTE: Drill out mounting holes in holding fixture with a 9/16 inch drill to allow the power rack and pinion steering gear assembly mounting bolts to fit.
   
   Mount power rack and pinion steering gear assembly in Bench Mounted Holding Fixture T57L-500-B.
   

1. Remove tie rod ends (3A130).
   

1. CAUTION: Use care not to damage bellows. If bellows are damaged, this will allow contamination into the steering gear and cause leakage.
   Remove four clamps retaining bellows to steering gear housing (3548) and front wheel spindle tie rods (3280). Discard clamps if damaged or excessively corroded.
   

1. NOTE: Steering gear does not use rivets or roll pins between the inner front wheel spindle tie rod and rack.
   
   Remove bellows along with power steering gear rack tube (3K762).
   

1. Position power rack and pinion steering gear so that several steering gear teeth are exposed. Hold steering gear sector shaft (3575) with an adjustable wrench on end teeth only while loosening ball joint nuts.
   

Assembly

1. Expose several steering gear teeth and hold steering gear with adjustable wrench.
   

1. Tighten each front wheel spindle tie rod separately to 90-110 Nm (67-81 lb-ft).
   

1. Thoroughly clean steering gear and steering gear housing bore of any foreign material. Any abrasive material is extremely harmful to high-pressure oil seals.
   

1. Apply Steering Gear Grease C3AZ-19578-A or equivalent meeting Ford specification ESW-M1C87-A to groove in front wheel spindle tie rod where tie rod bellows clamp to front wheel spindle tie rod and uniformly to inner diameter of tie rod bellows before installation. This allows for toe-in adjustment without twisting tie rod bellows.
   

1. Install tie rod bellows and power steering gear rack tube. Make sure power steering gear rack tube is positioned as shown.
   
   
   Power Steering Gear Rack Tube and Tie Rod Bellows Installation
   
   

pretty decent job ahead first jack up car support with jack stands remove front wheels remove nuts on tie rod ends remove tie rod ends from spindles with tie rod end tool or tap with malet were they sit to loosen them hit the spindle area not the tie rod or tie rod threads then dissconnect power steering lines from steering rack also disconect steering linkage to rack there should be 2 main bolts holding assembly to frame remove them should free rack i know that car may have a unique design were u may have to remove inner tie rod ends first if it has those round bushings that always go bad disconect inner tie rod ends behind engine on top of steering rack then remove rack from wheel well replace those inner tie rod bushings u may be able to leave outer tie rod end connected to spindles and u may be able to get to the sterring rack from behind engine good luck

If this is a rack and pinion type steering, in order to remove the inner tie rods you will first have loosen the jam nut at the outer tie rod end,next unbolt the outer tie rod from the steering knuckle, unscrew the outer tie rod end off (be sure to count how many turns to remove), next remove the inner bellows boot (black boot) from the tie rod / rack and pinion, next is to unscrew the inner tie rod from the rack assembly (the do make a tool for this to make it easier) but if you do not have the tool,you can sometimes use a big pair of channel locks or a big enough wrench to fit on the fitting on the inside of the inner tie rod, and just unscrew the inner tie rod (normal left=loosen, right=tighten). Hope this helps. Would also recommend having it aligned after you are finished.

222,000 miles? that's a good vechile so far! anyways, do some price checking. new rack and pinions come with the inner tie rods. so if it's like 50 more for the whole assembly, i would but if not, it's up to you. i've changed some rack and pinions on vechiles that were under 150000 due to major leaking. and if you put just new rods in, if it dose start leaking later, you'll get new inner rods again with new system you'll just be paying labor and alingment charges again. so again, my OPINION is if I'm going to keep it for a while and if it's COST effective, just to do the whole unit.