I just replaced the rack on a 02 Buick Century. The rack was about $200 for it at local parts house. The hardest part of the job was getting the steering shaft off. Lack of room on a front wheel drive. A truck would have to be easier to get to.
With a technical diagnosis like a "squishy" feel, give me a break. It's 9 yrs old with over 200K and not leaking just "squishy" feeling. The boot has accordian like pleats in it. If the seals leak enough fluid into the boot with out the boot leaking it would swell like a balloon.
In your case, I'd monitor the power steering fluid level. If it's using a quart a week = bad, bad, bad. More than likely you'll find that you don't even notice a change for a month or more. Monitor the level and you'll know when it has to be replaced.