Same issue on my '08 RX 350. Boots are not ripped or torn, no drips on the floor. Driver's side boot has a little grease around the end, passenger side had more grease/fluid on the boot. I just wipe it off and keep checking. I ran some Auto RX thru the power steering for 1000 miles, I'm flushing the power steering now with 2 or 3 quarts ATF, then I'll switch to Mobil 1. We'll see how it goes. If all you really need to do is just replace the seals that's a great idea, I have 2 excellent mechanics. Power steering fluid is the most often neglected service at the dealer's. Kinda makes you wonder why with all these problems ? Power steering racks going out at 60-90,000 miles is not Lexus quality to me. Should have never sold my '98 SC 300, best car I've ever owned. I'm 61 and have owned aprox 48 vehicles.
2008 RX 350 Flint Mica/blk 84,000 miles