Electric power assisted steering (EPAS) systems for solid axle front suspension vehicles are described. An example EPAS system includes an idler arm having a first end and a second end. The first end of the idler arm is coupled to a frame of the vehicle. The example EPAS system further includes an EPAS rack assembly having an input shaft, a rack, an electric motor, and an output link. The rack is coupled to the input shaft and is movable in response to movement of the input shaft. The electric motor is coupled to the rack. The electric motor provides powered assistance to movement of the rack. The output link has a first end and a second end. The first end of the output link is coupled to the rack. The second end of the output link is coupled to the second end of the idler arm.