I had an 1986 2wd with no power steering
I have a 1984 2wd camper with no power steering
I have a 1992 4x4 with no power steering
See a pattern, Man that sucks!

My 1992 is a base model and also has no intermittent wipers which sucks too. I have a newer steering wheel and will upgrade this soon too.
All my trucks are 22re so the v6 may be different, I don't know.
I have collected power steering boxes, hoses, pulleys, and all the parts so that I can convert my two trucks to power steering. It is not hard. Go to a junk yard and pull all the parts you will need, or have them pull it, or find them from local Toyota junkies. Take pictures before and during removal, or from other trucks with the PS option, then put them back on your truck.
I am not 100% sure about the 1990's trucks but I think they are the same as the 80's trucks. One bracket mounts to the block with the pump....hose over to reservoir mounted on DS fender....hose down to PS box....hose back up to pump.
I think this is correct. I am still looking into it and have only started on one of my trucks. I will start this on the 1992 truck in a couple of weeks and do a write up on it as I go. I will put the link in this post once I get it started.
If anyone else has info on the upgrade feel free to post it here to help out with the conversion.