friction/ tap in steering wheel while turning

Pretty much you just remove the bolts on either end, shove the joint farther up the steering shaft till it clears the rack input, rotate that end out of the way and pull it off the steering shaft. Lubrication of the splines and sometimes a little gentle spreading of the ears on the ends of the joint with a screwdriver, etc is helpful. Depending on the design there might be a need to unbolt a rag joint, etc - it should be pretty obvious when you inspect it.

GD