How do I fix play in the steering? - 1999 Jeep Grand Cherokee

Easier, is this , using 2 persons. P1 and P2
1: P1 steers (wags left and right the wheel, just taking up slack. over and over , repeats unending till hears stop)
2: P2, a mech, looks at the steering parts, all of them.
P2 looks and sees that play before his/her eyes.
if one part moves and other is late to move, that parts is bad.
easy huh? (like a tie rod end)
but ive seen cars (old) that all parts have too much play. (they add up)
Ill not tell you how we fix that. as it will scar you.
(ok , i will, replace ALL that)

This could be due to a number of causes, as the steering is a chain of linkages or joints:

-steering wheel securing nut loose
-steering shaft universal joint worn or loose
-steering box mountings worn or loose (common)
-tie rod inner ball joints worn or loose (if any)
-tie rod ends worn (most likely)

Jack up the front of the car both sides and secure it with axle stands or some other safe means, have someone hang on to the steering wheel, and waggle each road wheel in and out by gripping it at 9 and 3 o'clock. You should be able to feel the slack. Have another person use a strong flashlight to try to see where this is occurring.

You may need to take it to a front suspension shop as sometimes special tools are needed, and you will need a wheel alignment anyway.