im changing out the vacuum brake booster on my 2008 G37S but the intermediate steering shaft is in the way of the two nuts that are holding the booster from the inside of the car into place any tips around that without having to move the steering shaft?

 

The FSM doesn't mention about removing any secondary parts which means someone out there believes it is possible to remove the booster without removing the steering shaft.
I would take a guess and say to try utilizing an assortment of extensions, swivels, wobbles and universals until you can get something to reach it.