Yesterday I experienced a failure of my power steering system. 2006 V6 SR5

See the last post of this thread: Power steering failure

At this point I don't know if I have a bad power steering pump or a blown hose or something else, but I need to get my 4R to my mechanic who is about 4 miles away, right down the highway.

Assuming I can safely drive to my mechanic's shop, am I at risk of damaging anything by driving without power steering fluid? The mechanic suggested I pour some fluid in the reservoir to see if that will help get me to his shop. I'm concerned that I'll fill up the reservoir and it will all come leaking out in 30 seconds leaving a big mess in my driveway and possibly on the road.

I'm just not sure if I'm at risk of driving it for 10-15 minutes "dry"

Any advice is appreciated.