One problem related to power steering pump has been reported for the 1996 Toyota T100. The most recently reported issues are listed below.
I was returning from a short trip and the driver's side control arm broke while traveling down the road at approx. 35 mph. The frame, body and steering components are all riddled with rust. I have replaced numerous parts that had failed due to rust, including a fuel pump whose design trapped moisture and road salt on top of the fuel tank until fuel was leaking on the roadway. The rear bumper rusted off. Toyota trucks of similar type and year have been recalled because of similar problems, but not the 1996 T100. Toyota forums are filled with the same issue with this vehicle. I have owned this vehicle since it was brand new. Toyota will not back this product.