I just replaced my steering drag link assembly on my 2004. Sorry to hear about your arm infection. Basically you start by removing both tie rods using a tie rod separator, also called a pickle fork! Next remove the two nuts on the center tie rod bar knuckles. Next pound up on the on the knuckles to knock them loose. Next you will have to move the steering pitman arm to the left or right, don't remember which way, to be able to get the knuckle out of the center bar and the same with idler arm on passenger side. Then you should be able to "cork screw" it out the passenger side. The starring dampner, if installed, is easy removal. Not hard but just a little patience. I also did same on my 2006.
Hope I communicated this understandable.