First and foremost, check tyre pressures and see if any tyre is too hard or too soft.
Rotate tyres front and rear and check again. You may have a deformed tyre.
Check power steering fluid is full and clean, if not, replace the fluid. Very easy DIY with a turkey baster.
Then check all suspension and steering ball-joints for deterioration. Replace any looking or feeling worn. Get a wheel alignment done afterwards.
Only after having done all the above, should you consider replacing the steering rack, as this is the most involved and most expensive option.
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XC90 R-Design MY2009, Black Sapphire Metallic. HP-Sound, RSE, Nav, Tel, ParkingCam, BLIS, ParkingHeater, RestHeat, Removable Towbar, Summer: CRATUS 20x8 on Pirelli Scorpion Zeros 255/45, Winter: NEPTUNE 17x7 on Continental WinterContact 4x4 235/65.
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