Yes very easy, depending how rusted the drag link is. Center the steering wheel and remove the key so it locks into place. You do not have to make the change unless it is really bothering you. The Jeep will be fine if you choose not to do it.
2000 Sahara, 3.5" Rubicon Express Lift, 1" spring spacer & 1" Body Lift, 35" BFG Mud tires, Front & Rear ARB, Rancho 9000 shocks, UCF Ultra High Belly Up