When Alfa describes "Staking" something in a manual, they are referring to an operation that will bend or deform something (like a washer or nut) to hold it in place from loosening. Picture the operation of driving a stake into the ground. It's that same operation of holding a metal rod in one hand and hitting it with a hammer with the other. The difference being, that you are trying to bend over (or deform) a tab or metal edge on a washer or nut in order for it to not loosen itself with use. When you do this, you need a way to undo it when you want to remove the item. In this case, Steve says that you need to drill the staking out. Some things need to be bent back, sometimes with the help of a hammer and screwdriver or similar metal rod. Some times it can be a pain to "unstake" an item. Sometimes you can still remove items with the staking in place and brute force will overcome the staking, depends on what you are working on.
If you just had the rack rebuilt, I'm sure the inner tie rods are still good, because the rebuilder would have already inspected them or replaced them. Then again that was two years ago. Was an alignment done on the car after the rack was installed? You may have a hard time telling if the inners have wear, without actually removing the rubber boot and feeling for play in the ball joint itself. Grabbing the wheel and moving it in and out doesn't tell you much, because you can do that with good ones as well. With the car sitting on the ground, stand with the door open and turn the steering wheel back and forth while watching the front wheel. Does the front wheel turn immediately with steering input, or does it take a bit of movement before the front wheel moves. If it turns right with the steering wheel, than your inner tierods are fine. You will need a partner to help with the passenger front wheel.
Charles