Power steering rack and pinion?

If they replaced the steering assist motor or the lower assembly, there is a set-up that has to be done so the new motor and steering angle sensor are properly calibrated and the torque sensor doesn't trigger any codes. So, no it is not a scam. Many other modules on that vehicle also require programming or reinitialization if they are replaced as well. It isn't so that the vehicle knows it was repaired, it is more so that the new parts are calibrated, and the vehicles systems know the new parts parameters.
Here is the factory info on the procedures that need to be done.

After replacing the power steering motor and module assembly the following 3 procedures must be performed. After replacing the steering column assembly only, the steering position sensor and the torque sensor calibration procedures must be performed. The steering position sensor and torque sensor calibration procedures should also be performed after a suspension alignment. Certain steering symptoms can be corrected by performing the steering position sensor and torque sensor calibration procedures such as:

Poor, or uneven return to center
Poor, or uneven on center feel

Steering Position Sensor Calibration

1. Install the scan tool.
2. Turn ON the ignition, with the engine OFF.
3. Center the steering wheel.
4. With the scan tool select Special Functions.
5. Select Steering Position Sensor Calibration and press the Enter key. The scan tool screen will flash Calibration in Progress then display Calibration Complete.
6. Press the exit key.
7. Use the scan tool in order to clear any EPS DTCs.
8. Turn OFF the ignition.

Torque Sensor Calibration

1. Install the scan tool.
2. Turn ON the ignition, with the engine OFF.

Important: After centering the steering wheel, remove hands and other objects from the steering wheel and ensure the suspension is relaxed and no bias, or uneven force is being applied to the steering system.

3. Center the steering wheel.
4. With the scan tool select Special Functions.
5. Select Torque Sensor Calibration and press the Enter key. The scan tool screen will flash Calibration in Progress, then display Calibration Complete.
6. Press the exit key
7. Use the scan tool in order to clear any EPS DTCs
8. Turn OFF the ignition.

Steering Tuning Selection

1. Install a scan tool.
2. Turn ON the ignition, with the engine OFF.
3. With the scan tool select Special Functions
4. Select Steering Tuning Selection and press the enter key. The scan tool screen will flash Selection in Progress, then display Selection Complete.
5. Press the exit key.
6. Use the scan tool in order to clear any EPS DTCs.
7. Turn OFF the ignition.

Important After turning OFF the ignition in each process, allow 25 seconds of wait time before performing any procedures that require the vehicles battery to be disconnected, or module memory loss may occur.