Ummmm, what? A few leaks constitutes a compression test? Lol.
What they quoted you is common on the 4.8/5.3/6.0 LS series engines. Literally all those parts, especially at that mileage will start to seep. If you aren?t seeing drops in your driveway, I wouldn?t worry about it. In order to get a true leak diag, you?ll need to degrease the entire engine, steam clean it and recheck.
The steering components on the other hand are likely due given the mileage. Don?t piece it together, just get it all done at once. Upper/lower BJ?s, inner/outer tie rods, idler/pitman arm, possibly shocks and it will drive like a new truck. You can also have them tighten the steering gear a few notches to really make the difference.