^^^^ taking nothing away from Steve (aka Harvey Mushman) and his riding skill, but the famous jump was made by Steve's buddy and fellow desert racer Bud Ekins.
The movie moguls wouldn't allow McQueen to do the stunt. I guess they couldn't afford to loose him. If I am not mistaken in the beginning of his movie career his contract prevented him from racing. I guess eventually he was successful enough that he could pretty much do whatever he wanted to.