Can I get a used rack and pinion and reprogram it?

Yep, you should be able to get a used unit, here are the instructions to help you do the job, it looks like there are some warnings:

Do not touch exposed terminals. Terminals may connect to circuits susceptible the ESD damage.

Caution: During removal and installation, all EPS components including mechanical and/or electrical are extremely susceptible to damage. Dropping or prying on any EPS component may cause internal damage. If damage occurs or a part is dropped, the EPS component must be replaced.

Here are the complete instructions on how to change out the power steering rack (electric) and how to problem the power steering control module. Check out the images (below). Let us know if you need anything else.