Hi,
I'm not certain your TR4A has exactly the same pair of rubber donuts my TR4 does (appears the same according to Moss' online illustrations), but I didn't have any problem or need to compress them. I did remove the entire steering column from the car, which is easy after removing the upper and lower pinch bolts (1/4" bolts, the lower one is at the pinion, the other at the upper steering column, there are two more on the center steering column, which are optional to remove if it makes the job easier), and loosening the upper steering column so that it can all slide up a little to release the lower steering column at the bottom. No need to loosen the steering rack, remove the steering wheel or anything like that.
With the column out of the car, it was just a matter of unbolting the rubber donuts and bolting the new ones in place. Note that the safety wire is very important on those bolts. Wouldn't want one coming loose while out on the road!
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