Vehicles and steering systems for vehicles are provided. An exemplary steering system is provided for an automotive vehicle that includes road wheels and a rack mechanically coupled to the road wheels and laterally displaceable to change an orientation of the road wheels. The steering system includes a steering wheel mounted on a steering column and rotatable by a driver for inputting a steering command. The steering system also includes a lower column coupled to the rack. In the steering system, lateral displacement of the rack causes a rotational torque on the lower column. The steering system further includes a magneto-rheological coupling interconnected between the steering column and the lower column. The magneto-rheological coupling selectively communicates a desired portion of the rotational torque on the lower column to the steering column to provide haptic feedback to the steering column.