I was not going to jump into this, because I have not looked at enough rack and pinion trucks to visualize what is what.
However, let me drop these two ideas in.
I saw a PTO winch on a truck that had the PTO unit on the passenger side of the TC, and the input to the winch on the driver side of the truck.
The PTO shaft went from the TC, forward, then across the bottom of the truck, then forward again to the winch.
And it worked!
If that can be made to work with multiple pillow blocks and U-Joints, under that much load, then you should be able to route a simple low load steering shaft......
My other idea is wilder, and related to going from full hydro to hydro assist and back.
Why does a steering box output shaft have to move???
When you turn the wheel, the shaft tries to move. If it can't, the spring gives, which causes the spool valve to shift and applies the hydraulic pressure.
If you have hydro assist, the drag link is resisted and it causes pressure to both the ram and the internals.
What if you removed the drag link and locked the output shaft for off road?
The wheel would not turn beyond a certain point, but the truck would.
It would be like the modern fighter jets. The control stick does not move, but the sensors feel the pressure of the pilot's arm and move the control surfaces accordingly.
It might take some getting use do, but would be way cool to drive........
Then, when you got to the highway, just remove whatever you have attached to the output shaft and reattach the drag link....