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To remove the roof rack on a Toyota Highlander, begin by taking off the two plastic caps located at the back of the rack. You can carefully pry them off using a putty knife or a similar tool. Then, gently use the putty knife or a thin blade screwdriver to wedge between the cap and the rubber seal, gradually easing the cap out until the tabs come loose. After that, you can take out the cross bars and undo the bolts that secure the clamps to detach the roof rack from the vehicle. While this process is relatively straightforward, it's important to handle it with care to prevent any damage to the plastic cover pieces.