If you're doing the inners then I'd change the outers for peace of mind as you may well have to get aggressive with then if they haven't been touched for a while.
The hardest bit is removing the inners from the steering rack so have a look at access before getting to the point of no return and not having a car to drive
As for removing them they're pretty sttight forward. Obviously jack up and wheels off, the next step will depend on whether you're keeping or binning the old outer ends, if you're keeping them then I'd suggest loosening off the locking nut for adjusting the tracking and freeing up the inner rod from the outer end before undoing the nut on the outer ball joint of the steering arm, as if you don't they can be a real nightmare to split afterwards. If you are reusing the outer ends then count the amount of turns it takes to get the outer end off as it will give a semi accurate guide as to how far back on they will need to go. If you're not keeping the old outer ends then you can skip to below.
To remove the inner arm from the end if the rack you'll first need to remove the plastic/rubber gaiter which will be either held by spring clips or cable ties, with this off the inner end and the end of the steering rack will be visible, however access isn't always great, I use a proper tool that is adjustable and slots over the inner track rod but space allowing you could use a large spanner or a big set of grips.
This is what I use, not overly cheap but very effective
Installing is just the reverse of the above really, bear in mind you'll no doubt need the tracking resetting afterwards though.
