Rack and Pinion - 2001 Ranger

Just had my 2001 XLT Ranger serviced with oil change and alignment. During the process it was discovered that the rack and pinion were shot. The truck has 58,000 miles and is driven around 2 times/week with limited driving. I was told this could be one possible cause for this. However, there is no odd sounds or shuddering when I turn--only that which was caused by a misalignment of the truck.

I had the techs show me under the truck, and I could see where there was liquid (steering fluid) on the inner arm and around the bags on both side. However, I am still wondering if the rack and pinion needs completely replaced given the low mileage and no obvious signs of steering trouble at this time.