Originally posted by Barry Weeks:
The key is using a u-joint and splined slip shaft that allows the steering shaft to expand and contract slightly as the axle moves up and down as the suspension works.
But you've added all the weight of the rack and pinion to the axle as unsprung weight. Ride and handling will both suffer. I don't think the trade-off would be worth it.
Rack and pinion steering is nice, but so are ride and handling.