This piece located under the driver side of the vehicle near the front of the driveshaft. It’s held in place with three bolts. The steering coupler is shown in the picture (yellow arrow). To remove it, you need to remove two bolts that attach it to the rubber connector and one clinch bolt that attaches it to the splined shaft. You may need to put the key in the ignition to unlock the steering in order to get a socket onto the clinch bolt. Before removing this part however, make sure the steering system is pointed as straight forward as possible. It doesn’t have to be 100% perfectly forward – just close.
Take the clinch bolt and put it in a zip-loc bag and label it ‘CLINCH BOLT’. Put the bag in a in a safe place because you will reuse it for reassembly. Take the factory steering coupler and other hardware and sell them on eBay. Let me know if you get more than $0.35 for them!