My apologizes for the long over-due follow-up. After lots of on-line investigation and ultimately following several e-mails and conversations with Charles Brown of nsxrackrapair, I pulled the proverbial trigger and had my steering rack fixed. I got tired of the right turn squealing. Charles assured me that driving it with the squeal would not do any harm. And the most significant failure might cause the EPS to fall back to manual steering which was fine with me. But it never did that for the hundreds of miles I drove it like that.
Since I didn't have access to a garage with a lift, (I could and was willing to do the work, and I believe you were right, it would be a relatively easy job), I broke down and worked with my Acura dealer who has done maintenance on my cars for years who coordinated pulling the rack, shipment to Charles, its return and installation. Charles is a super nice guy and knows his racks very well. His records had my car's rack repaired by him in (about) 2018. I was told this when I bought the car from its last owner. Charles honored the repair at no cost to me. That was wonderful and a super nice deal I couldn't refuse. I just had to get the rack to him and that was the cost to me with Acura's help. Two-and-a-half weeks later the rack was reworked and installed back in my NSX and YES, the squeal was gone. Charles sent me a photo of my racks armature next to the reworked one he installed. You can see where the brushes and armature are worm. They were not badly worn and the squeal was from the build-up of carbon dust from the brushes. He included an 11 second video. It shows my draggy, squealing armature when spun in one direction and quiet(er) in the opposite direction - see attached. Then he spins the replacement and it spins smoothly and squeak free in both directions. Charles assured me I'm good with this armature for many years of enjoyment. I've since put a few hundred miles on the car and it is so much sweeter to drive.
Thank you Charles Brown of nsxrackrepair. And thank you Wild Turkey for your help. I appreciate it very much.