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Subaru rack&pinion chatter?

1998 185k miles; while still or barely moving, pulse/rattling sound in front end, when turning steering wheel. No vibration felt in steering wheel, only sound. At moderate, street and highway speeds; nothing. Local general repair shop listened with stethoscope on steering housing and believes noise is chatter between pinion and steering rack due to normal wear. They said not serious or at risk of sudden failure, but will continue to get worse with age.

Anyone had similar symptoms?