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My steering rack wasn't leaking at idle either. It would push all the fluid out as I was driving because the seals on the ends of the rack were bad. Have someone turn the wheels as it is idling and look at the ends of the rack bellows. I bet you'll see your fuid leaking there.
I changed my rack out myself. It took the better part of a Sunday, but the rack was only $200 at Autozone and it has a lifetime warranty. It was one of the more labor-intensive repairs I've done, but it's not impossible. Plus, if I save $800, it was well worth it...
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