I did a How To on this subject (rack adjustment) about five years ago, which I can't find but I do have the images.

The first couple are the "after" images. "Before" is the last image so you can compare how much the adjuster was turned in.

It can be done in situ. Easier without over rider brackets. Restarting the thread is mission impossible against a strong spring.

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DaveW
'05 Red Roadster S1
'16 Yellow (Not the only) Narrow AR GDI Plus 4