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Exactly, parasitic drag is fairly negligible. Granted, you'll be able free up some power this manner, but a fraction of what you could gain compared to other ways to add power. For some people - every fraction of HP gained is critical - for others, they won't see much performance improvement at all.
Manufacturers are pushing electric power steering systems - so you still have power assist, but in the form an electric motor strapped to the rack instead of a hydraulic pump. Good for gaining fuel economy and reducing some plumbing, part counts, minimal performance gains, but the steering "feel" takes some getting used to for many.
As for steering feel - since is was designed to be a power assisted rack - at low speeds, it will be tough to steer, you'll get a workout turning the wheel at parking lot speeds. At higher speeds, will be a lot easier to turn, but the effort will still be high. Compared to non-power assisted racks which use mechanical leverage/multiplication to lighten steering weight.
Then there is reaction speed - not only will you be defeating the power assist on the rack, but now emergency reaction speed is lengthened. Your steering response will be slower and greater chance to get into an accident. Replacing the OEM rack with a non-power assisted one may not help, more so in the case if the ratios were not considered. Some non-power assisted racks require more turns lock-to-lock, in order to get the leverage to ease steering weight.
So is deleting the power-steering a good idea? For a track-only car - I don't have a problem with that, might even be beneficial depending on the track. For a street driven car - bad idea, the chance to get into an accident or lose control compared to the fractional power gain is not even worth thinking about this sort of mod.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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