I have a 2012 Caravan, my daughter hit something and bent the tie rod end. How hard is it to change the rack and pinion.

 

The tie rod screws into the rack and pinion, you'll see it if you unclip and pull the rubber boot back. So you shouldn't have to change the rack unless she damaged both the tie rod and rack. Hopefully you'll be able to get away with just buying a tie rod set for that side. You'll need an alignment after replacement!