Steering issues

I have a 1999 tacoma 4x4. During last deer season I noticed that from time to time it seemed like the steering would slip while driving. It progressed to where now when I turn the steering wheel all it does is strip, the tires don't turn at all. I am assuming that my steering box has a stripped gear, or maybe a bolt has backed out. I have done most of the maintenance work on the truck myself and consider myself to be pretty mechanically inclined. I have never worked on any steering parts, and to be honest am kind of scared of it. If I mess it up, a lot is at stake. I guess what i'm asking is if any of you have ever experienced this problem? and if so, was the solution a pain in the ***?

Thanks in advance for any advice.