Yes, get yourself an 8mm spanner (preferably a ratchet spanner). You just need to remove the kick panel from above the foot pedals. It's just 3 screws, I believe, that are along the bottom of the dash below the steering wheel. The steering wheel cowl can stay on.
Once the kick panel is off, get a torch and look up towards the steering column. You will see the steering motor (big silver thing), and on the end of it you will be able to see one of the bolts you need to loosen. It is a splined-type bolt, but an 8mm socket fits perfectly. The other bolt is directly opposite it on the motor, hard to see, but easy to get to when you know where it is.
Loosen both, then tap the collar part around slightly. It's fairly self-explanatory once you are in there. Mark the existing position first with a Sharpie in case you need to go back to it. If I remember correctly, you tap the bottom of it to the left of the car to loosen it, or to the right of the car to tighten. Make small adjustments, less than a cm at a time; tighten, then test drive. Keep adjusting until it feels just right.
I did mine again recently, as I had a rattle, which was from the gear lash being too loose. At first I did it too tight, so I ended up with sticky steering, but after several adjustments, it was perfect. Little movements make a big difference!