If the boots have been torn open for a while, maybe enough dirt got into the rack to do some damage. If dirt got in & caused the hydraulic cylinder seals to leak, that would explain the PS fluid.

 

I change the gear boots, there seemed to be some mud inside of them, but not much. lubed up the joints and sprayed the inner tie rod with lithium grease. the ball and socket joint moves freely now.

the creaking sound did turn out to be the ball joint, so i replaced that too.

the ps fluid leak turned out to be some tubing connection near the driver side tie rod. it was a metal u-shaped tube that i had to get from the dealer. one end had was flared and held on by a nut, the other went into a rubber tube held on with a hose clamp. anyway, at the parts desk the guy said he has seen a lot of these that needed replacing lately. and it was not a fun job, the place where it goes was so tight i got like 1/16 of a turn of the wrench each time.