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It will more than likely cost you a boat load. Especially if your taking it to a dealer. The rack and pinion is the beef. They are usually in the 100's of dollars to replace and they are labor intensive. Axle boot covers or CV joint covers, I assume you mean, are not bad if you can get wrap around replacements. If you have to go with a non-wrappable boot your going to be able to replace the entire axle assembly for close to what it would cost to replace the boots. Valve cover gasket would be a few bucks. Timing belt would be cheap also but labor intensive. My guess going into the high end garage or dealership of around $1,500 - $3,000 for everything.

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Q: How much should it cost to replace your rack pinion steering axle boots valve cover gasket and timing drive belts on your 94 Toyota Camry?
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