Intermediate Steering Shaft

Wondering if anyone has replaced intermediate steering shaft on 2001 or newer 4.0? I am trying to figure the best way looks very tight in the engine bay to access. I am not sure to work top side or from underneath car. Factory service manual just says remove pinch bolt at steering gear stub shaft.. Big help

When the dealership did my 02's they took the dash apart to access from the interior.
Was a big pain in the arse job.

Marc