The inner tie rods on the RX7 look to be too small to use the regular "inner tie rod removal" tool you buy at the autoparts store. In the archived thread, a community member suggested grinding down a 15/16 wrench to gain purchase on the small, concealed hex head.

Mazda sells a tool

But I found this tool worked perfectly:
MAC TR897


I just removed the passenger side without having to access the nut or grip the rack. It's torqued down pretty well, but the entire process took less than five minutes, including removing the wheel.