How do I access the rubber steering coupler to fix clunk noise?

I cannot find any videos on the Santa Fe steering clunk issue, specifically to replace the rubber coupler for this model. The videos I have found are different models and are easier to drop the steering column. In the Santa Fe there is a bar blocking the steering control motor from coming down. It seems like I would have to remove the upper dashboard to access the motor bolts. Is there a better way?

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