A rack assembly for a rack and pinion gear system for a steering system, the rack assembly comprising: a rack housing extending from a first end to a second end; a rack disposed in the rack housing; a first hydraulic chamber defined axially between the first end and the rack; a second hydraulic chamber defined axially between the rack and the second end; a piston disposed within the rack; a third hydraulic chamber disposed within the rack; a first hollow rod extending from the first end to the piston, the first hollow rod configured to supply a first hydraulic pressure to the third hydraulic chamber; a fourth hydraulic chamber disposed within the rack; a second hollow rod extending from the piston to the second end, the second hollow rod configured to supply a second hydraulic pressure to the fourth hydraulic chamber; a first end cap coupled to the rack and at least partially defining the first hydraulic chamber and the third hydraulic chamber; and a second end cap coupled to the rack and at least partially defining the fourth hydraulic chamber and the second hydraulic chamber, wherein: the piston at least partially defines the third hydraulic chamber and the fourth hydraulic chamber, and the rack is configured to translate in a first direction in response to receiving hydraulic pressure in the first hydraulic chamber and the fourth hydraulic chamber. a rack housing extending from a first end to a second end; a rack disposed in the rack housing; a first hydraulic chamber defined axially between the first end and the rack; a second hydraulic chamber defined axially between the rack and the second end; a piston disposed within the rack; a third hydraulic chamber disposed within the rack; a first hollow rod extending from the first end to the piston, the first hollow rod configured to supply a first hydraulic pressure to the third hydraulic chamber; a fourth hydraulic chamber disposed within the rack; a second hollow rod extending from the piston to the second end, the second hollow rod configured to supply a second hydraulic pressure to the fourth hydraulic chamber; a first end cap coupled to the rack and at least partially defining the first hydraulic chamber and the third hydraulic chamber; and a second end cap coupled to the rack and at least partially defining the fourth hydraulic chamber and the second hydraulic chamber, wherein: the piston at least partially defines the third hydraulic chamber and the fourth hydraulic chamber, and the rack is configured to translate in a first direction in response to receiving hydraulic pressure in the first hydraulic chamber and the fourth hydraulic chamber. a first end cap coupled to the rack and at least partially defining the first hydraulic chamber and the third hydraulic chamber; and a second end cap coupled to the rack and at least partially defining the fourth hydraulic chamber and the second hydraulic chamber, wherein: the piston at least partially defines the third hydraulic chamber and the fourth hydraulic chamber, and the rack is configured to translate in a first direction in response to receiving hydraulic pressure in the first hydraulic chamber and the fourth hydraulic chamber. the piston at least partially defines the third hydraulic chamber and the fourth hydraulic chamber, and the rack is configured to translate in a first direction in response to receiving hydraulic pressure in the first hydraulic chamber and the fourth hydraulic chamber.