Long multi-step list on sidebar

Trying to come up with a cleaner way to present lots of steps for a multi-step application I'm working on.

Each Borrower will have 6 actual steps. I originally tried arranging them across the top as tabs, but they get too long on smaller screens (it needs to be responsive for mobile devices).

So I'm thinking about placing all the steps on the left sidebar, but it just seems very "daunting" to a user to look at all those steps.

Specifically looking for thoughts on a better interface for arranging these steps without overwhelming a user. Most of the information is filled out within 3-5 minutes, but at first glance this looks like a 30+ min duration if you just look at the long list.