Often loose steering and leaking is caused by worn out knuckles.  Toyota used an enclosed CV joint in the front axle.  This kit is commonly referred to as a knuckle
rebuild kit.  This kit contains all the bearing and seals to rebuild your knuckles on BOTH sides.  There are several reasons you may need to rebuild your knuckles.  Often the inner seal begins to leak which cause the differential oil to mix with the knuckle grease.  This makes a soupy mess and often leaks on the back side of the tire.  Another reason the knuckles are loose is the knuckle bearings (sometimes referred to as the king pin bearings).  Bigger tires, miles, steering wear them out.  They can be checked by jacking the vehicle and rocking the tire with your hand on the 12 and 6 o'clock position if it moves excessively they need rebuild.  As a general rule, if your knuckles have not been rebuilt, they need to be.