Can the rack be removed without taking half of the inside of the luggage bay apart? It certainly looks like it's a question of undoing the four retaining bolts and the pinch bolt on the pinion and it should come off. Is that right? I did see about undoing the lower part of the column to assist in sliding the rack forward, but I think that was referring to an S2
Yes, that sounds about right but personally I'd take off the closing plate to give you clear access to everything. It might be a struggle but will make putting it all back so much easier.
When I've done it I've had to move the bottom universal joint an inch or more to get it clear of the rack and the easiest way is to slacken the clamp holding the lower part of the steering column from inside the footwell.
On the "rumbling" I don't think mine's that smooth either if I do as you've described. The leverage is all wrong, you're pushing the rack/pinnion at an angle whereas with the steering wheel everything is lined up properly. Depending which road wheel you're turning, a worn rack support bush would make it even worse by letting the end of the rack move up/down as well.
Other things to look for - that univeral joint breaking up/loose bolts (never seen it personally but possible) or marks from where a bolt head/clamp has been binding ?