Well like I mentioned Tiny, I'm sure there are lots of people who like their setups, so maybe there is a way to do this and have it work well. There was an article on this subject a while back and in it they discussed and diagramed why mounting the rack to the frame created bump steer. However, they built some brackets off of the rear of the axle and solidly mounted the rack to the axle itself and they said that did the trick. Only problem I see there is that you are adding to the unsprung weight of a car and also you have to make some sort of slip joint on the input steering shaft so it will allow some travel as the car moves up and down. Not impossible to do as there are probably some splined shafts out there from wrecked cars that would do the trick.
Steering is one of those tough things to work out on a rod. There aren't all that many choices it seems, and most are designed for bigger cars making adapting them hard.
Don