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First things first, have you had your tire balances checked?
If the tires are in good shape the problem is unlikely to be your steering rack. Check your ball joints and tie rod ends.
To check the tie rod ends jack the car up, take the wheel at 9 o'clock and 3 o'clock and give it a shake. There should be very little movement there.
To check the ball joints again jack up the car. Take the wheel at 12 o'clock and 6 o'clock and give it a shake. There should be even less movement possible here.
If you're getting a pretty good wiggle from either most likely that's where your problem lies.
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