How can I improve my rackless steering design? I am trying to build a vehicle with a sturdy steering mechanism powered by the servo motor. When I was a kid I did this all the time with a rack and pinion design, but now I don't have any of the rack bricks.

The best I have come up with is an axle connected to a universal joint connected to the steering bar (see pictures - note that some of the chassis has been removed to expose the steering).

The problem with this is that the steering is slightly offset to one side. Also the axle can easily pull out of the connector if there is any resistance to the steering.

Is there a better design I can use, while still keeping the vehicle relatively compact?
Look at the instructions for set 42048 Race Cart. It has rack and pinion steering without using a rack. It basically uses the same 2-long beam as you use on the servo, but uses it to push two pins with towball end either left or right. You can find the instructions online at LEGO.com.