There are two companies that I know of that make rack and pinion conversions for the S10. We re-engineered our fiberglass 37-38 Chevy Sedan Delivery and Cabriolet bodies to mount to an S10 donor and ran into the same steering box issue. The front fender hits the stock box.

We also tried to mount our 34-35 Chevy car bodies to the S10, but found that the 'bulge' in the S10 frame in the firewall area was too wide for these earlier bodies. May be the same on the pickup, but I haven't tried.

For many of these swaps, the wheelbase of the S10 is incorrect, but this is easily fixed by moving the rear axle.
Brad
Superior Glass Works
www.superiorglassworks.com