A power steering system includes a steering column assembly, a steering gear assembly, and a pressure sensor, and a torque sensor. The steering column assembly has a steering shaft and the steering gear assembly is operatively connected to the steering shaft. The steering gear assembly has an input shaft that extends through a valve housing and extends into a rack housing. The pressure sensor is arranged to provide a pressure signal indicative of a fluid pressure of at least one of a first cavity and a second cavity disposed within the rack housing.