You can remove the clamp on the inner end of the boot and push the boot outwards on the tie rod to get a better look. Both inner and outer tie rods can be replaced without removing the rack.
This Tech article at Pelican Parts covers most of the info for replacement..
https://www.pelicanparts.com/techarticles/Boxster_Tech/59-SUSPEN-Suspen_Overhaul/59-SUSPEN-Suspen_Overhaul.htm.
I've done it a few times now. Like many things on these cars; find authentic instructions and follow them, don't rush or try to take short cuts until you have done it a couple times.
If you have a manual you can find useful info such as tie rod to rack torque is 80 Nm/59 Ft and tie rod to wheel carrier is 50/37
The 986 Bentley Manual is often available used here on the forum or other popular book sources:
https://www.pelicanparts.com/More_Info/PELPB04.htm?pn=PEL-PB04&q=bentley%20986