A steering system with reduced coupling between a position overlay unit and a torque overlay unit may include a remote valve assembly for controlling a hydraulic assist force or an electric motor for providing torque overlay and electric assist to a rack of a rack and pinion steering system. In one embodiment, the position overlay unit may provide the assist force and the torque overlay unit may provide a motor command signal to the motor of a differential positioned on a steering shaft. In another embodiment, the position overlay unit may provide the motor command signal and the torque overlay unit may provide the assist force. In either embodiment, the position overlay unit may include variable ratio gain that uses a position signal to output a variable ratio command.