At the top of the shaft somewhere under the servo is a bolt with locknut which secures the extension shaft clamp to the triangular part of the steering column. Remove the nut, then the bolt and swivel the top part of the clamp away (it swivels on a large rivet). The top end of the extension shaft then comes away for you to get better access. On my 3A I have to turn the manifold as I remove it to get it out.
I used the "titanium" wrap which does not make you itch. I soaked it first then put it on, securing it with stainless clips.