3rd Gen. Is my rack and pinion shot?

[ILLCOMM]

I had a shop tell me I needed a new rack and pinion (~$1200). I have had zero symptoms, so the recommendation was out of left field. How do I tell if this is the case? I have attached some pictures. The right boot does look a bit damp (?), but was not wet and does not drip. I really was dirty more than anything else.