[Bones43x]

I was quoted $2500 from a Goodyear shop and $950 labor only from an independent shop

That's crazy. I know that often it's not a lot, if any, more labor to replace the rack than it is to do both inner tie rods...parts are obviously more, but $950 labor only is ridiculous. As far as replacing racks go, it doesn't get much easier than your 12 Camry.

 

[Bones43x]

I doubt it would be $2000. '12 Camry would have basically a manual rack and pinion since the EPS is in the column. It should be less for parts and labor.