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Evaluation of electric steering (EPAS) system performance using vehicle specific load conditions is important for steering system design validation and vehicle steering performance tuning. Using real-time vehicle dynamics mathematical models is one approach for generating steering loads in steering hardware-in-the-loop (HIL) testing. However achieving a good correlation of simplified mathematical models with real vehicle dynamics is a challenge. Using rack force models from measured steering tie rod forces or from simulations using a high-fidelity vehicle dynamics model is an effective data-driven modelling method for testing EPAS systems under vehicle specific load conditions. Rack force models are identified from physical measurements or validated vehicle simulations of selected steering test maneuvers. The rack force models have been applied in steering system performance evaluation, benchmarking, and steering model validation.