My 2011 just encountered this exact same problem today at 183,000 km. The low pressure power steering return line failed/leaked due to deterioration/corrosion.
My 4Runner gave a nasty groan pulling out of the driveway this morning when I was turning the front wheels to get on the roadway. I then noticed two small spots of fluid in my parking spot and knew right away that something was wrong with the power steering.
Straight to my mechanic I went!
Instead of ordering/waiting for OEM Toyota formed lines, the shop I take my 4Runner to custom fabricates the lines in-house from copper nickel (or cupro-nickel) 3/8 inch tubing.
They have also used similar cupro-nickel lines when previously repairing my leaking brake lines when they failed due to corrosion.