Alright, so I dropped the lower steering shaft, and it's a pain in the butt. You need small hands, good light, and patience. Being a contortionist helps too. No need to remove anything else off the van, the hood can even stay closed. Don't have to remove the LF wheel, nor any interior trim.
Steering shaft under the dash where it goes through the firewall:
First, I removed the boot where the shaft goes through the firewall, note the paint marks I made for realignment:
After jacking the van and putting Jackstands under it, I removed the bolt holding the lower steering shaft to the steering box, 12mm socket:
To get the shaft off, I had to use a LONG flathead screwdriver, and wedge it in the split where the bolt had clamped it to the shaft, and hammer upwards, spreading the end of the female split shaft and allowing it to open up and slide upwards, off the splined male shaft of the steering box. Before it came fully off, and while it was still aligned, I made another paint mark for reinstallation.