@planomateo same EXACT thing happened to me. Drove 375 miles home to Denver from HIH with no problems. Truck sat in garage overnight and then I washed it in driveway with no issues. I pulled back into garage before I took it to mechanic for other service. When I came back - there was 2-3 tablespoons of power steering fluid in my garage. My theory is that I developed a small leak (possibly as a result of wheeling it pretty hard over 3 days) and then the fluid built up in the boot. I either ripped the boot on the trail OR I may have hit the boot when I powerwashed the undercarriage. Not sure. Lexus dealership said to replace the steering rack for $2200 (I'm not doing that). My plan is to monitor the leak for a few days, put Lucas power steering stop leak as a stop gap measure and put a new boot on I got from NAPA for $20. I will have to take the tie rod end off to get the new boot on (as shown in your very helpful FSM pic).
As a disclaimer - I am NOT a mechanic and am just starting to work on my truck a bit more as it needs it. Others may have different/better advice.
I'm sub'ing to see what you do and what others may say. There are other detailed threads on here that address steering rack and boot questions where I was able to ascertain the above plan.
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