The 97+ NSX did have an upgrade to the EPS control system, carried out by Acura under warranty. I'm not sure if the part number for the upgraded EPS control system is different.
The 1995-96 EPS systems are different from the 1997+.
Ther are two main differences, the rack itself, and the EPS Unit.
In the 1995-96 systems there is a rotational speed sensor located in the steering rack that sends signals to the EPS Unit. The signal(s) are located on pins 4 and 12 of the 18 pin connector of the EPS Unit. These pins are not used on the 1997+ systems.
Although speculating (I have not tried this) I think the 1995-96 unit in a newer car will probably fail diagnostics, since these signals(expected by the 1995-96 EPS Unit would not be present.
You would probably need to backdate the steering rack as well. But...I do not see anything that would concern me about giving it a try, you never know, it may work.
Please understand my comments are speculative, from reading the details of the service manual, I have not tried any of this.
I bet if you put a 1995-96 rack and EPS Unit into a 1997+ the 4.23 R&P would work, without an EPS failure.
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