A worm shaft (46) has a first end section (52) and a second end section (54) extending from a worm section (50). A first drive system (98) is in driving engagement with the first end section (52) of the worm shaft (46), and a second drive system (104) is in driving engagement with the second end section (54) of the worm shaft (46) for redundantly steering a vehicle. The worm section (50) of the worm shaft (46) is disposed between the first drive system (98) disposed on the first end section (52) of the worm shaft (46) and the second drive system (104) disposed on the second end section (54) of the worm shaft (46). A lost motion connection (82) is disposed between an input shaft (76) and said worm shaft (46).