This is an old video that explains the typical hydraulic steering system.
I guess in modern systems, or at least in four wheel drives, the whole thing is compacted in the steering box.

https://www.youtube.com/watch?v=BXEiLFuaQ4s


And this is a video that explains more modern electric assisted power steering, which I think is a much better system
'cos it reduces "parasitic loss" from constantly turning steering pump.

https://www.youtube.com/watch?v=o2kyozK9GII

My old Hoden Barina had electric assisted power steering, but I've never bothered to look more into it back then.
Now, I kinda have some idea.