The project is finished. Since I have AWD, in order to drop the rear subframe to get access to the rack, I had to not only drop the entire exhaust, but I had to drop the driveshaft. Otherwise, the rack cannot be removed, short of dropping the entire subframe.
Steering is much better, but it isn't like it was originally. It feels artificially hard to turn, and I'm wondering if the module needs a reflash. I recently had an alignment, and it's well within specs, but my steering wheel is not centered when the car is going straight. It's about 12:30, instead of noon, and I wonder if that has anything to to with the artificially hard effort of the wheel.
If anyone has any questions as to the procedure, I'll happily answer them.