I asked that same question a couple days ago on the RZR 800 facebook group. The answer I got that the 2011 up were more reliable and that they would bolt right up although one guy said he had to grind down the bracket that the rack and pinion bolts too to get it to lay flat because of the bigger housing around the pinion shaft.
I ended up just ordering a new armature plate, thrust button and seals since it didn't look bad in there otherwise this time around, and I was worried about getting back on the road this time around as it's one of my main riding seasons for the next couple months.
Way back when I had the plastic Sprague carrier in there, mine made a bunch of noise. If you still have one of those in there I suspect that's your problem. You can find billet aluminum ones all over the place that are much more reliable if that is your only issue and they are fairly inexpensive. Personally I'd just open it up and see what you're facing, then go from there. Either way you have to pull it out, and taking the cover off only takes a couple minutes.