power steering rack adjusment

I have vibrations when I brake with the car off the ground I get a little slop in the steering gear is there a way to adjust this 2003 vw wagon .

No, something is worn, either track rod ends or tie bars usually. It's rare it's the rack itself

Tie rod ends are good replaced last year there's a slight clunk moving tires back and forth . It is in the tie rod not wheel bearings or lower ball joint .Car has 333333 miles on it .

There's an inner ball joint on the tie bars, you can replace them on the car

Did you have a helper hold the steering wheel while you checked for play?

If I hold the tie rod and push the tire in and out I can feel a clunk in the tie rod .

Replace the inner tie rod. Other than leak the steering racks don’t really go bad. Of course once they start leaking then they need replacing.

Here’s a complete tie rod inner and outer together. You can buy just a inner.

https://www.idparts.com/tie-rod-complete-left-a4-p-596.html

Inners are the same on both side otters are different , left and right.