On some cars, you have to remove the steering shaft bolt completely in order to remove the rack from the shaft. But, you can also...
Remove the inner tie rod boots, that can sometimes allow for just enough room to get the bolt out. If the boots have the OEM clamps, you'll need to pry open the tab with a small flathead screwdriver. You can use zip-ties when you put them back on (the OEM clamp is a 1 time use clamp).
Or...
If you use some penetrating oil and a small pry bar, you can remove the steering rack bolt sleeves out through the front of the rack. That will allow you to remove the steering rack bushings (without disconnecting the steering shaft from the rack). With the bushings removed, the rack will move enough to get the bolts out.
These cars do vary from year to year, so those tricks might not work on your car, but that's what worked on my 2000 GT and 2004 V6.