+1 on it being doable, you just need to be mentally prepared for that last day. Our group considered the last day to be a different trip, so that we could more easily block it from our minds later
. We spent the night at slickhorn E and shoved off at 7:45 (I'd leave earlier next time!). After a lunch at Oljeto, we ultimately took off at clay hills a little after 530, with flows around 400cfs. Paddleboards are really helpful on the last day to lighten the load on the rafts. We also ended up rigging straps to the front of the boat to make dragging easier and more ergonomic, because it was such a prevalent part of that day.
As far as steer gulch camp, I would avoid it at all costs. It sucks, the canyon isn't accessible from the camp and the bugs are a nightmare. I have heard no positive stories from there.
Good Luck, Have fun!!