Is there anywhere you can get the rubber boots only for the steering joints? 5th Gen

If you're talking about the dust boots for the tie rod ends Energy Suspension makes them.
Summit Racing sells them. (http://store.summitracing.com/product.asp?p=2298&searchtype=ecat)

I have bought rubber replacement boots at a local car parts store.

Advance, AutoZone, or any other parts store that carries the "HELP!" line of parts has these.