I have done the job with the box in the engine bay. No problem with the proper tools. The tricky part is to remove the nut and Pitman arm. The rest is a piece of cake. Raise the car and support it. Then move the steering wherel to check if the steering moves OK, no grumble. Of everything feels OK, get a new oil seal and start the procedure. As in the photos.

 

 

 

 

 

 

On this Burman there was an O-ring

 

 

I used this pulley.