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Having the exact same issue m8 , have changed my pump and didnt work ordered a rack but think its the knuckle joint between colum and rack give thst s check m8
i gave that a quick check last night couldnt see anythink wrong really also checked the power steering fluid all pipes and track rod ends no leaks and no visable damage, do the 2001 impreza have the active steering or whatever its called on them