Get a second opinion for sure. Those prices are crazy. Most places will Inspect the car for free. If they won't, they are trying to rip you off. But I disagree about local shops always being cheaper. I work at a Jeep dealer and our labor rate is 110 an hour. My little brother works at an independent shop that charges 120 an hour. The stuff that needs to be done is pretty simple. But if you have no mechanical experience, I wouldn't recommend something as important as steering to be your first endeavor.