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by the book yes. the stearing rack usess the fluid a a lube as well... however i have ran my 95 civic without a belt for 6+ years without issues (well there is no power stearing)
the dash the steering column the wiring harness the pedal brackets, the pedals very expensive to change it
you will probably need to change many things under the hood as well such as the steering linkage and steering rack, power steering lines and many other things
your looking at spending more than the car is worth
Inside the boot toward to rack (inner tie rod) there is a washer that has to be removed. Then you'll be able to see the wrench contact area that has to be removed to release the inner tie rod from the rack. Then just put it all back together, don't forget the washer lock. Turn the steering wheel as far as it will go according to which sides you're working on at the time to get the most comfortable access.
Whenever u have problem with Honda, there are 3 items u should look into first: Ignition Coil, ICM and main relay. If your car cranks and will not start period, and u have checked sparks and compression...etc, the chances are its either your ICM or Ignition Coil. If your Honda starts sometimes and dies sometimes and 'experts' keep telling u its your transmission, fuel pump, fuel filter, starter, distributor...etc, before u spend any money, you should takeout your Main Relay and check(very carefully) for hairline(extremely fine) crack(s) on the soldering. If u see something looks like a crack, then u have found the problem. Get a new relay or resolder it yourself.
For your power steering issue, if you have replace the power steering kits already, may be u still have air in the system and u have to burp your system by removing the power steering reservoir cap, turn the steering left and right to pump air out from the system. Good luck.
sadly it sounds like the rack and pinion is going bad..rebuilt units are available ...you'll need a 4 wheel alignment after replacement. Get this fixed as it very dangerous and will only get worse
three things to check the powersteering hose, the pump and the steering rack itself usualy the power steering hose and the steering rack usualy go bad in them
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