I replaced the PTU on my 2013 MKS about a month or so ago and during the process thought to myself, "I guess I know if I ever need to replace my steering rack I know I can do it." To get the PTU replaced without having to remove my cats (I was afraid the studs in the turbos were going to break) I dropped the subframe, which made the PTU process MUCH easier. The steering rack was attached to the subframe and was readily accessible at the time too. I'm not sure the subframe would need to come all the way out to change the rack, but once you're that close, it would probably be worth the few extra steps to make it easier.
I did the work in my garage with the car on jackstands, and my car has spent it's whole life in the midwest (rust belt) so I would say if you're used to working on cars and have a decent assortment of tools and a couple of floor jacks, you could do it too.
-Rod