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If wheel is turned to the left or right too far it will fight u... Which ever way wheel is turned force steering wheel a lil more that way and should be able to turn key. The steering wheel lock when turned too much locks so tight you have ta fight it that lil bit more before it will let you turn the key.
I'm not sure if that truck has rack and pinion steering, or a steering sector. In either case, it sounds like you have stuck valve and the hydraulic pressure is fighting you, instead of helping you. When ever you turn the steering wheel the valve is supposed to move and direct the hydraulic oil pressure to help you steer. The valve is built into the sector or the rack and pinion, you may have to replace the assembly. There are companies that recondition those items so you might want to shop around.
with engine off, have someone turn the steering wheel back and forth. Check under the hood along the steering shaft for loose u-joints. check the steering box, check joints at either end of drag link(from steering box down to passenter wheel) and tie rod ends. do this with engine off so wheels dont turn. and by the way, jeeps have sloppy steering boxes from the factory, so don't expect excellent, tight steering when you're done. good luck