Sometimes you need to pull the motor, sometimes not. Remove the steering link from cable to motor. Turn the wheel to make the steering rod as short as possible. Loosen the large steering cable nut and pull the cable out of the tilt tube. If you are lucky, there is enough room in the splashwell for it to come loose. Sometimes the cable will line up with the hole in the side of the splashwell.
Plan B is to slide the motor, still on the transom, to the port side to give the extra room needed to pull the steering cable. A lot of motors do not have full transom clamps, so you need to engineer some way to do that.
Plan C is to attach the motor to a tree limb or garage door header so it will hang just off the transom, to allow the cable to be pulled.