There are leaks and there are seeps. On a 2003 car you have to expect seepage which some shops will say are leaks that need repair. How to tell? Do you have to top off your power steering fluid, if so how frequently? A significant leak will require topping off like every few weeks or so. Do you see a puddle of fluid on the pavement where you park the car overnight? Is your power steering noisy or have a grinding feel when you turn the wheel?
When you get under the car there are rubber boots on each side of the rack. Are the boots intact or torn? Is there some evidence of fluid on or adjacent to the boots? Can you see any drips?
These are things you can look for yourself. On an expensive repair you can get another garage to give another opinion. If the steering is functioning normally and you just need to add some fluid every couple of months this might be one of those things you choose to live with on a older car.
When the power steering fluid gets low you will get a buzzing noise when you move the wheel. Top off the fluid and the noise goes away. A steering rack is not one of those things that suddenly fails leaving you stranded on the highway.