Loosen the clamps on either end of the tie-rod tube. Then remove the cotter pins and loosen the castle nuts on the tie-rod ends. Whack the cast knuckle with a hammer while prying against the tie rod. This will allow the tapered tie-rod end to come loose from the knuckle. Now you can take the tie rod off and use something to straighten it. We used the bracket that sometimes holds our tow bar for flat towing. We have seen people use the ends of open bumpers, trailer hitches, trees, even a rock and a big hammer. Either way, get it as close to straight as you can.