how to tell if power steering motor, steering rack and boots need replacing?

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took my 2005 Hyundai XG350 in for state inspec., was told it failed due to leaking power steering fluid, steering rack boots filled with fluid. Powersteering has been fine, haven't seen any leaks on floor of garage. Told have to replace power steering pump motor, steering rack and steering boots. $1400! Does this seem reasonable? I was surprised at this. This was at a local VIP Auto Repair shop in So. NH. Thanks.