Mine just did same (2001). Have them check the power steering pump--shaft broke in mine. This affects the brakes as well since both power brakes and power steering run off same system in Astros. Broken shaft messed up the booster system.
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remove the shift linkage and the one bolt in the pic and get inside the van sit down in the seat brace your feet on the floor and pull toward you the wheel it will be a little hard but it will come out.
Your van don't have the regular air (vacum) power brake booster, your has a hydraboost brake booster, which is power by your power steering pump, if power steering pump goes bad you will not have power steering or brakes, brake peddle will feel very hard and will take alot of pressure on the brake peddle to stop your van, more the likely your power steering pump is bad.
check the power steering pump to see if the shaft broke. remove the belt and pull the pulley on the pump, it should not pull out of the pump. If it does you need a new pump
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