A power-assisted steering system includes an intermediate housing, a motor cone housing coupled to the intermediate housing, and a control shaft arranged along a control shaft axis for rotation about the control shaft axis. The system further includes an assist drive shaft arranged in a plane that is substantially transverse to the control shaft axis, the assist drive shaft being supported relative to the vehicle structure by a first bearing assembly and a second bearing assembly and defining a drive shaft axis, a worm disposed about the assist drive shaft, and a worm gear coupled to the control shaft. The worm gear and control shaft are configured for rotation about the control shaft axis.