does small leak require a new steering gear/rack?

we've never had a power steering issue and never seen any fluid on our driveway.

RX350 year 2008 84K miles

 

Where is it leaking?

 

If it is the typical small leak out the passenger' side inner tie rod seal, I would drain the reservoir and put in Lucas Power Steering Stop Leak. I have had good luck, ours has been holding over 60K miles now. If the leak has already grown too large, then a rebuild or rack replacement is about your only option. Dealer will gouge you though, any good repair shop can do it for $400-600, depending on which part of the country you are located.