If the rack is bad and binding, I wouldn't recommend driving it. There are bushings that fail in them and cause a binding. If it's bad, I would replace it.
Here are the directions for replacement. The attached pics correlate with the directions.
2002 Oldsmobile Aurora V6-214 3.5L VIN H SFI
Power Steering Gear Replacement
Vehicle Steering and Suspension Steering Steering Gear Service and Repair Procedures Power Steering Gear Replacement
POWER STEERING GEAR REPLACEMENT
Steering Gear Replacement
J 42640 Steering Column Anti Rotation Pin
Caution: Failure to disconnect the intermediate shaft from the rack and pinion stub shaft can result in damage to the steering gear and/or intermediate shaft. This damage can cause loss of steering control, which could result in personal injury.
Notice: With wheels of the vehicle facing straight ahead, secure the steering wheel utilizing steering column anti-rotation pin, steering column lock, or a strap to prevent rotation. Locking of the steering column will prevent damage and a possible malfunction of the SIR system. The steering wheel must be secured in position before disconnecting the following components:
The steering column
The intermediate shaft(s)
The steering gear
After disconnecting these components, do not rotate the steering wheel or move the front tires and wheels. Failure to follow this procedure may cause the SIR coil assembly to become un-centered and cause possible damage to the SIR coil. If you think the SIR coil has became un-centered, refer to your specific SIR coil s centering procedure to re-center SIR Coil.
1. Lock the steering column by installing the J 42640 into the underside of the steering column.
2. Raise and support the vehicle.
3. Remove the tires and wheels.
4. Remove the power steering gear heat shield. See: Steering Gear > Procedures > Power Steering Gear Heat Shield Replacement
5. Remove the intermediate shaft lower pinch bolt.
6. Separate the intermediate shaft from the power steering gear.
7. Remove the outer tie rod retaining nuts.
8. Using J 24319-B separate the outer tie rods from the steering knuckles.
9. Remove the power steering pressure hose (2) from the power steering gear.
10. Remove the power steering return hose (1) from the power steering gear.
11. If equipped, disconnect the variable effort steering electrical connector.
12. Remove the left stabilizer shaft insulator. See: Stabilizer Bushing > Service and Repair
13. Remove the power steering gear mounting bolts.
14. Remove the power steering gear through the left wheel opening.
15. Transfer the outer tie rods if replacing the power steering gear.
1. Install the power steering gear through the left wheel opening.
Notice: Refer to Fastener Notice in Service Precautions.
2. Install the power steering gear mounting bolts.
Tighten the power steering gear mounting bolts to 95 Nm (70 lb ft).
3. If equipped, connect the variable effort steering electrical connector.
4. Install the left stabilizer shaft insulator.
5. Install the power steering pressure hose (2) to the power steering gear.
6. Install the power steering return hose (1) to the power steering gear.
Tighten the power steering pressure and return hoses to 30 Nm (22 lb ft).
7. Install the power steering gear heat shield.
8. Install the outer tie rods to the steering knuckles.
9. Install the outer tie rods retaining nuts.
Tighten the nuts to 30 Nm (22 lb ft) plus an additional 180 degrees.
10. Install the intermediate shaft to the power steering gear.
11. Install the intermediate shaft pinch bolt.
Tighten the intermediate shaft pinch bolt to 47 Nm (35 lb ft).
12. Install the tires and wheels.
13. Lower the vehicle.
14. Remove the J 42640 from the steering column.
15. Bleed the power steering system.
16. Adjust the front toe.
I hope this helps. Let me know if you have other questions.
Take care and God Bless,
Images (Click to enlarge)
Sunday, February 14th, 2021 AT 6:19 PM