It is difficult to recenter the steering pinion, you are supposed to take off the plastic cover at the bottom of the steering column at the firewall. Its going to be the right way to do it, open the universal joints center the steering ect... rather than trying to just change the splines on the steering column.
If you do work on your own car, check out Alldata, they are the information source used by most independent repair shops. The information in many cases is straight out of the Toyota factory manuals. You get component location, wiring diagrams repair procedures, service bulletins ect.
The information is your year and model specific and cheap as a one year subscription for a single vehicle.
http://www.alldatadiy.com