You be fine,if the seals were to totally go out,you'd still have steering,it's mechanically connected.It wouldn't be very bad while moving,just might make you have popeye arms while stopped.

If you remove the skid plate,you can access the lines on the rack itself. Make sure to use a flare nut wrench when taking loose the lines .

With tires off the ground you can pull the tires side to side and it'll pump out the fluid from the rack.Drain the pump and reservor by what ever means you can,taking loose lines etc.

Make sure to follow refill/bleeding procedures per the manual,so no pump damage from cavitation(air)results.
Good luck and let us know if a fluid change works.

This will be a messy job.
Make sure to wipe/wire brush all fittings before you loosen them to keep contaminents out of the system.

Bansil