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You say it's grabby on the highway. Does it not grab turning through the full range at lower speeds or sitting still on loose ground? The higher RPM could indicate a pump issue. Try higher RPMs while coasting or something -- but if it is the pump it wouldn't grab in the same spot(s). Also at highway speeds your tie rods should be pushing in to the rack as the wheels' toe-in tries to push apart (assuming proper toe-in alignment).
It's possible it's the pump, but experience indicates racks are the most likely problem with high mileage and it is a stock unit.
Also the swivel joints are a major consideration as pointed out. Jack up the front of the car and test the range of movement.
Personally I'd replace both rack and pump based on Notnoel's point assuming it's not the joints.
_______________________________________
Clarence Donath
Richmond, RI
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