Rack and pinion removal

If your gear is ready for removal, this shaft should already be disconnected. I cannot guarantee with any certainty, that the frame will lower enough to get you the clearance that you need. You can try it, have it supported, and lower slowly to see if you can accomplish.

You need to remove the exhaust to get sufficient clearance.

DO NOT use an impact to loosen the exhaust bolts and nuts. You would definitely strip them. Spray some rust penetrant onto the threads and use a socket wrench to remove the nuts.

If automatic, I would advise disconnecting the shift cable as well. If you try to pull too hard onto the cable, chances are you would damage it resulting in stiff lever movement when shifting in and out of Park.

Removing driver side tie-rod end would gain you more space.