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 . <EOS>