i don't think its possible without raising the motor but i think you can pull it off without removing the steering rack.
i was able to remove my e34 m50 oil pan without removing the steering rack, it was a bloody bitch but you can do it.
i put a jack right under the tranny just before it touches the oil pan and raised up. i also used one more jack under the header to give me that extra inch to finally pull it out.
my question is, whats holding you back from raising the motor?