Systems and methods for controlling an electric power steering (EPS) motor of an EPS system of a vehicle are provided. A steering rack position sensor detects a linear position of a steering rack linear of the EPS system and a suspension travel sensor detects a suspension travel of the vehicle. An EPS controller has a processor and a memory. The EPS controller is configured to control the current draw of the EPS motor. The EPS controller is further configured to determine an EPS motor output torque based on the linear position of the steering rack and the suspension travel, and to limit the current draw of the EPS motor based on the EPS motor output torque.