I replaced the rack and pinon on my nieces 2003 TL S last year. Total PITA. Used some hints from here and youtube and all but dropped the entire subframe out of the car so I could pull the rack out.
So, now I might have to do this on my brothers 01 TL . 2 questions:
is there a difference between the 01 and 03 (or S vs. non S)
is there any other way beside lowering the sub frame to replace the rack?

 

Sub frame does not need to come out. TL-P has extra speed sensor tubing that needs to be disconnected.