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Sounds like the problem I had. The supports for the shaft of the worm gear were worn enough that the worm did not engage.
You should be able to take it apart and add a shim to make it engage again. I made shims from a soda can and the fix has worked for the last 40,000 miles.
Nigel
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'87 924S 5sp
Slowly recovering from a warped head
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