Hi Josh
I think you are most likely worrying about the Escort rack needlessly
As far as I know, most folk use the standard Escort rack in its original form & don't have any, bump steer issues
Chris does say in the book, the Escort rack is close to being the ideal length.
If you did want to have your rack shortened ..... The track controll arms would need to be removed, then the ends of the rack shaft would need to be re-machined.
Definately not a simple DIY job
