I don't know of a way to do it if there is (and I doubt there is). Mine has a Seastar, which is pretty common on outboards. I've looked but there is no adjustment that I can find. Not sure what an I/O would look like.

I have messed with non-power rack and pinion systems before though. Replaced the steering cables on my old Ranger as it took some major guns to steer that boat. Had to rent a cherry picker and pull the engine to do it. Was a major project to get to about a 30 minute job.

BKB