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Pretty sure you will have to remove from truck.
I have put 6 of the van tilts in now and of those I could not get 2 of the intermediate shafts to collapse. Had to use other ones. You can drill out the 4 plastic pins (2 each side) you can see them in the pic as the 2 white dots half way down the shaft . Some have collapsed without removing the pins. Need to put it upright on the concrete floor and wack the end of it. I also sprayed with pb blaster so that when it started to move it moved easier. I also stuck a long bolt in the inside and wacked it back out further and then back in again a few times till it would adjust with very little pressure. This is kind of important as once you get it back in the truck you will want it to slide back a forth in size till you get it just where you want it in lenght. As this will regulate how close the steering column sticks out towards you.