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It is almost certainly unsafe to drive a car with a damaged rack and pinion. The rack and pinion are the means by which inputs on the steering wheel are passed to the road wheels (http://en.wikipedia.org/wiki/Rack_and_pinion). If the rack and pinion were to fail while the car was being driven, the driver would lose control of the vehicle's steering. If you suspect your rack and pinion to be damaged, the car should be inspected by a qualified mechanic before being driven. Depending on the type of damage, it may be possible to drive the car to a repair shop, or it may need to be towed.

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Q: Is a car safe to drive with a damaged rack and pinion?
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