Thanks for the pictures! That does look similar as far as the leaking, though mine had quite a bit more fluid in the boot bellows.
This evening I did some more looking and diagnosing, mostly to check the inner tie rods. Both ITRs were very loose and had a lot of play (not so much in and out, but very loose spinning etc). I was REALLY hoping they would still be tight, and I could just try replacing the rack guide. So those will definitely need to be replaced.
I checked the pricing on Toyota Part Sales for the rack guide and inner tie rods, and the total comes $395.43 shipped. Hell, that's more than the cost of a reman rack from NAPA! BUT, for a new Toyota rack from same place would be $657.01 shipped. That's not a whole lot of difference to get a brand new rack either and would eliminate any questions as to whether the fixes above would work or if they would just be temporary patches.
I sure would like to get a reman rack for a few hundred cheaper than a new Toyota rack, but I've read quite a few complaints about reman racks (especially the Cardone racks that NAPA sells). The Beck/Arnley reman racks have good reviews, but they cost as much or more than a Toyota rack too. Going to think on it some and research a little more on the reman racks, but the new Toyota rack is starting to look like the right decision to fix things and be done with the issue.
EDIT: Has anyone heard of or used toyotasteering.com?? They have new racks for $345, but not sure if it comes with inner tie rods or not. If it does, I'm curious as to why they're so cheap. May give them a call tomorrow.