I recently replaced a steering rack gaiter, but wasn't sure how much grease I had to put in it, as there was no grease supplied with the gaiter. I just put some grease around the shaft and joint. Should I have put a fair amount of grease in the gaiter?

As long as there was a reasonable covering of grease you should be ok. I put tons on when I did mine, but as long as all the contacting parts have even a light coating you should be fine.   I recently replaced a steering rack gaiter, but wasn't sure how much
grease I had to put in it, as there was no grease supplied with the
gaiter.  I just put some grease around the shaft and joint.  Should I
have put a fair amount of grease in the gaiter?