Just did this on my 99 4runner. Pretty straight forward. My recomendation would be to buy a set of polyurethane bushings to go with it. Toytec sells a set for around 20 dollars. Also, pull all the bolts out, then re-install the long bolt on the driver side in reverse (so pull it out from the front, and stick it in from the back). Then, pull the rack out enough that you can get to the lines, and loosen them. I found that the bolt being installed was very useful in providing a counter against the wrench twist when loosening the lines. Also, I found it easier to disconnect the rag joint from the steering rod, rather than the rack, and then remove the joint from the rack once it was out of the truck.
However, if it is "sticky", when was the last time you had an alignment? Bad caster can cause the wheel to feel "sticky" because you are turning against the surface of the road.
Cheers!