I did it myself. Not a terrible job. I measured the lengths of each side to a 1/16" of an inch and set the new one to the same (rack Doctor includes new inner joints from what I recall, and I bought new outers so it would all be equally new). Getting the spline off the steering column was the only pita. I forgot to lock the steering centered so I had to do that step twice to have the wheel properly centered.

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David.X5
2001 X5 4.4i Sport
SOLD! at 160k miles