i removed mine. 2004 X. on either side main rail, theres a front, a rear and a middle plastic cover. you need to pry them off, but they don't want to come off without any sort of reasonable force.
use a flathead screwdriver and pry around the edges. each cap has 2 plastic plugs surrounded by a metal sleeve that serves a shim. mine each broke off one peg, so i had to remove them and then superglue it back onto the cap (in the event you ever want to reinstall the rack)
once you do this, theres 2 Torx head screws under each cover. unscrew them slowly as to not strip them out. i used a hand Torx driver to prevent this.
once you remove the screws the rack will come off. theres a rubber foot under each mounting point, 6 in total. save those too.
after i removed all 12, i used a soapy rag and cleaned off the painted roof surface because it has dirt and grime buildup. i then hit it with a bit of turtle wax. you could also use some isopropyl, then wax to prevent it from oxidizing.
after you do that, just screw the scews back in. they don't need to be super tight, just hand tight. the holes terminate, they do not go all the way through so you don't need to worry about leakage.
good luck