Loosen lug nuts and mark the position of tie rod end and adjustment sleeve. Unscrew the tie rod, count how many turns it takes for removal. Transfer the marks.
Depending on year and model, you need heavy-duty lift to access from safe distance; this requires professional care. If you are attempting to perform work yourself, have assistance.
Just pull the wheels and hubs then remove the tyrod and put the new one in. Then put the hub back on, then the wheel, then do the other side the very same way.
You can take the inner and outer rod off at the same time with the rod still connected. You can then lay it down on a piece of cardboard and trace it so you can get the best measurement without needing an alignment.
remove the cotter pin that locks the nut, remove the nut, loosen the jam nut slightly and hit the side of the tierod till it pops loose, unscrew the tierod