Put it up on jack stands and get someone to turn the wheel back and forth. See if you can isolate that click. I believe that you can see the U-joint that you mentioned right above the rack & pinion. If you squirted it with WD40 and it fixed it that's probably your problem. However, if the U joint turns out not to be the problem the WD40 might wash away some of its grease and shorten its life span.
Often, it's the loose screw between the steering wheel and the driver's seat that needs to be fixed first!
Stock 1995 Camry, 5SFE, Sedan.