There is an adjustment, but you can't "adjust out" wear.
Regardless of the type of steering gear - rack & pinion, worm & sector, or recirculating ball - the majority of the wear is going to be around the "central" position - as you take up the adjustment, you will find that the steering becomes tighter as you increase lock and you'll reach a situation where the steering will no longer return to center properly.
The steering can be rebuilt, but it's going to be done by replacing the worn parts, which in most cases are not offered for sale separately - I've rebuilt racks personally when parts were available, but, I've never seen (possibly because I've never needed to look for) parts for the other steering boxes.
I'm in a situation somewhat similar to you - the rack on my GV has noticeable play - it's within the FSM spec, but noticeable, Suzuki doesn't offer the parts separately, and finding a RHD rack is challenging.