No, they had hydraulic and till 2008 they had a manufacturing defect of steering fluid pipe leakage which honda started replacing free of cost for all cars till 2008. And 2008 onwards the pipe issue was fixed but still had hydraulics. So no 8th Gen did not have EPS. 2012 9th Gen Civic came with EPS.
I don't think 8th Gen PKDM ever had eps.
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