I've had the rack and pinion replaced before.... and the van has 211,800 miles on it.
Both vehicles are serviced at Car Care Center at Disney. When you go through the toll plaza to MK, just say you're going there, they'll let you through, and just turn into the gas station.
The guys there are great, and never had any issues with getting anything serviced. And if you work for Disney, you get a 10% discount on the total.
You can drive without the rack&pinion, it'll put your steering off, and allignments will only help so much. But it's not an immediate repair if you don't have the money for it right now.