Check the backlash in your steering box. There is a large nut (Approx 17-22mm?) with a flathead in the middle on the top of your steering box. If you crack that nut loose 1/4 turn, tighten the flathead to remove the backlash in your steering box then lock the nut back you should help. Proper procedure if in the FSM and tightening too much will cause the vehicle to not return to center when you take a corner.. Read too much is BAD.. If that doesn't fix it then your relay rod is bad and needs new ends. Or bushings or ubolts or knuckle bearings.. But start with the 1/4 turn in the steering box.
jack it up off front tires.. grab your tie rod to the steering box see if you can shake it. if so it needs adjusting. Will probalby be a bandaid tho.. Depending on miles and use you have more maint to do later.
