Unless I misunderstand this topic, it is very simple to disconnect the steering column from the pinion rack or the steering wheel.
Yes, the pinch bolt must be removed, says my eyes and the manual.
1) remove the bolt and nut securing the rubber coupling adaptor closest to the rack pinion shaft. This bolt diameter matches perfectly the radius of the pinion
2) remove the impact clamp, up higher
3) then push the lower column into the upper inner to clear the rack pinion.
These above three steps disengages the lower rubber coupling from the rack pinion.
Roberto
Tr4a