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That depends on the year and model of car. I know of one manufacturer that had multiple rack replacements on the same model over several years because of failure of the material that the rack itself was made of...the full name of the part is a rack & pinion. The rack portion of these vehicles was prone to pitting, for whatever reason, as the rack moved in and out of the housing when the vehicle was turned. These pits would work on the seals of the rack & pinion housing and cause the seals to fail. Since this particular car had a hign pressure power assist that was shared by the Power Steering and the brakes it wasn't considered safe to replace the seals which meant it was necessary to replace the entire rack. The industry has moved to a component system anyway over the years-replacing components instead of repairing them. As an example of that, today many cars are made with all the parts in the doors as a unit: window regulator, door handle and lock mechanism where in recent history these parts came separately.

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Q: What would cause damage to a steering rack which would lead to a replacement?
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