A modular steering system is adapted to be installed in a vehicle. The vehicle includes a steering column. The modular steering system includes an input unit, a first output unit, and a second output unit. The input unit includes an input shaft that extends along a first axis, that is adapted to be connected to the steering column, and that is adapted to be driven rotatably by the steering column about the first axis. The first output unit includes a first output shaft that extends along and is rotatable about a second axis parallel to the first axis. The second output unit includes a second output shaft that extends along and is rotatable about a third axis. The second axis and the third axis cooperatively define an angle therebetween.