It sounds like you have at least one bad tie rod end....this is the most likely problem, but I have listed other things to check out.
To figure out which tie rod end(s) are bad, you need to jack the front end up and put it on jackstands, or if you have a buddy that works at a shop that can put it on a lift, that is even better.
With the front end jacked up and the steering unlocked, have somebody turn the wheel left and right and watch as the tie rods (the rods that actually "steer" the wheels) move - there should be no "play" or looseness in either the inner or outer tie rod ends.... the large turnbuckle looking ends on the rods. Most often, it is the outer tie rod ends that go bad, and if it is pulling right on you the one on the right side is most suspect. Also try and hold one wheel at a time still while your buddy steers and see if there is any slop.... there should be ZERO play or slop between the steering wheel and the front wheels.
Bad ball joints can also cause steering problems. With the front still jacked up, grab a wheel and try and shake it up and down, in and out. If you feel it move, replace both the upper and lower balljoints on that wheel (only one set may be bad, but if so, the other is certainly worn!).
Bad wheel bearings can also cause steering problems, and allot of shaking and vibration when you are driving. If you can shake your jacked up wheel any which way and it is loose, or if you spin the wheel and hear allot of crunching noises, you have bad wheel bearings.
All of these problems are serious, and if you have a sudden complete failure of the bad part while you are driving, you can lose control of your truck. You need to determine which of the above is causing your problem and take care of it immediately. The best answer is to go to a qualified mechanic, but if you are up to doing it yourself, be careful and don't try and do it all alone.
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