power steering problem—replace rack and pinion?

What is your question?

power steering going out on occasion and ESC light on; shop says rack and pinion problem. no lead up to sudden onset of this problem, ie other steering problems or noise. did just have alternator and belt replaced the day before first incident. is it probable need whole thing replaced? at what cost? zip: 10034

What makes this problem better or worse?

engine either cold or normal. twice when steering relatively straight (normal speed, engine warm); twice when parking, deep turns (once engine warm, once cold).

How long has your 2012 Fiat 500 had this problem?

two weeks.