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check if you got rack in pinion steering the mounting bolts for looseness .check tie rod end housing seats and the inner tie rod ball studs for wear.if all is good.your rack has worn pinion bushing and rack bushing.
rack and pinion is the steering wheel joint, so if the steering wheel shakes or handling has decreased, then i would say it is the rp. , also check the wear on the tires for uneven wear, it could be alignment, does the steering pull to one side? it could be motor mounts just find the bolts and check em wiht a torque wrench, also inspect mounting bushings as well. to check trans. give it alot of gas to get past 35-45 mph and the shaking should go away at higher speeds, if it doesnt then its the trans missing "third".
I did this on a 2002 Intrepid, and found that it wasn't too complicated. I replaced the bushings only, rather than the tie rod end. You can get bushing replacement kits where the bushing is in two pieces and doesn't have to be pressed in. Before starting, turn the steering all the way to the right, then remove the intake air ducting. The rack and pinion assembly should be easily accessible now. BE SURE AND REPLACE ONLY ONE TIE ROD BUSHING AT A TIME. If you take both bolts out at the same time, you may have a very hard time getting all the sleeves, etc. aligned in the steering unit so you can get the bolt back in the proper hole.