Answer:
Pretty simple, just not cheap. Get a quality Ultrasonic cleaner to clean your tubes, grips and stems, then place them in autoclave bags so you can ensure:
1. They got sterilised properly
2. They STILL are sterilised before you use them
Follow manufacturer's guidelines, your own state's legislation, yes it's expensive but there no corners to cut when you consider the sorse case scenario instead.
Oh and don't be stupid and think there's any simpler way out there and that a pressure cooker etc. will work. you're kidding yourself. If you can't afford it use all disposable sterilised equipment at the very very least.