I would replace the boot and call it good. Power steering fluid is either red or the color of engine oil depending on what oil your system uses.
If you had any significant leakage, you would be having a small pool of oil in one or the other boot. Not necessarily milky looking. There is usually some amount of grease in the inner tie rod ends. They do not necessarily run dry or they would wear out prematurely.
Best to keep track of fluid usage. If it is using fluid, it is probably leaking. If it is leaking, it is most economical to replace the rack. Resealing a steering rack is an involved procedure that requires a lot of special tools and is time consuming. I had to reseal a couple of them in the early days of rack and pinion steering being in common use. It proved to be too costly in shop time to be practical.
Also note that a couple of ounces of DOT 3 brake fluid will do wonders for leaking steering racks.
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Today's Featured Article - When Push Comes to Shove - by Dave Patterson. When I was a �kid� (still am to a deree) about two I guess, my parents couldn�t find me one day. They were horrified (we lived by the railroad), my mother thought the worst: "He�s been run over by a train, he�s gone forever!" Where did they find me? Perched up on the seat of the tractor. I�d probably plowed about 3000 acres (in my head anyway) by the time they found me. This is where my love for tractors started and has only gotten worse in my tender 50 yrs on this �green planet�. I�m par
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