We describe a framework to reduce the computational effort to evaluate large deviation functions of time integrated observables within nonequilibrium steady states. We do this by incorporating an auxiliary dynamics into trajectory based Monte Carlo calculations, through a transformation of the system's propagator using an approximate guiding function. This procedure importance samples the trajectories that most contribute to the large deviation function, mitigating the exponential complexity of such calculations. We illustrate the method by studying driven diffusion and interacting lattice models in one and two spatial dimensions. Our work offers an avenue to calculate large deviation functions for high dimensional systems driven far from equilibrium.