The front end of my '02 S (~80k mi) has been feeling a little loose lately so I decided to undertake a complete overhaul including the tie rod ends, steering rack boots, etc.  For many months I've noticed a slight leak from the RH rack boot and have had to periodically add fluid for a couple of years.  When I pulled that boot off at least 4 ounces of fluid leaked onto the floor.   Because the rack seals aren't serviceable, I understand replacement of the r&p unit is in order.  
Is this a DIY job?  This is an $800 part so I'd like to tackle the job if possible, but I wouldn't classify myself as highly skilled.  3 wrenches out of 5 is about my limit.
Can anyone steer me (ha ha) to a site with step-by-step instructions?  Haven't had a chance to look at the Bentley; presumably it has something.  From all the usual sources I'm coming up with a zero.