You can get a rebuilt rack with a life time warranty from Oreilys for $387.99. The labor will triple this price if brought to any shop. Note they are problably also quoting the front end alignment that will be required after this new rack is installed. If you cant do this yourself and dont have a manly man willing to do it for you there is always hot shorts/tube top and a case of beer to lure your local shade tree mechanic into the right frame of mind.
Just an FYI my tundras rack had a small weeping leak on the passenger side seal that wasnt pouring out fluid but was enough to wet the cover boot with moisture. I took a turkey baster and sucked out my steering fluid (auto tranny III fluid) from the reservoir and replace with new auto tranny fluid. I did this process over the span of a month every day to slowly replace all the ole fluid with new without shocking the system. The leak stopped! The new tranny fluid sealed the leak by replenishing the seals I guess. I also changed out the rack bushings that seem to wear out fast on the tundras. If you search around in the other toyota makes forum you will find that the toyota rack does have a tendancy to weep. Ive read quite a few forums with ppl having similar problems.
If I were you Id evaluate the urgency of having this repaired first.
How much fluid is being lost?
Is it a weep like my rack?
What color is the fluid in the reservoir right now? If your car takes type III tranny fluid and its brown you could stand to change this out.
Does the rack or pump make strange loud noises when using?