Personally, at the very least, I would keep an eye on the power steering fluid level. See if it starts going down.
I had a slow leak on the driver's side of my 96. Of course that was after I got it stuck in a ditch for about 4hrs and "forced" the seal failure trying to get it out before someone showed up to pull me out.
I had a slow, steady leak out of my driver side boot that necessitated me refilling the power steering fluid every 3-7 days (depending on temperature). Drove like that for about 8 months before I had the time (and outside temperature warm enough) to do any work. I opted to replace the entire rack.
My rack was Toyota original (circa 96), had ~250k miles on it, and I had broken a ball joint a couple of years before and was concerned about possible internal damage from the tie rod getting bent when the truck dropped.