Methods and apparatus are provided for determining steering performance. The method includes coupling at least one load source to the steering system, and coupling a portion of the steering system to an angle input source. The method also includes outputting one or more control signals by a processor to the at least one load source to apply a load to the steering system and outputting one or more control signals by the processor to the angle input source to apply an input to the steering system. The method includes receiving torque data indicating a performance of the steering system based on the load applied to the steering system by the at least one load source and the input applied by the angle input source.