Steeping isn't anything that I can tell you how long you need to do it. Some juices, I can let sit with the caps off for a day and they are good. Others taste like perfume until I let them steep for a few minutes. It all depends. I've noticed that different companies have different steep times for me too. I always leave Mt Bakers juices for a few weeks.
Basically, whenever I get new juices, I let them sit for a day or two. Then I try one or two. If it tastes good, I use it. If it doesn't, I leave it steeping. Typically, I let the juices that I really don't care for steep longer than juices that are a little perfumey. Pretty much everyone lets their juices steep, but how long or the method of that is pretty much up to your tastes.