Remove any skid plates if you need to so you can get a clear look underneath
Have a friend wiggle the wheel back and forth semi-firmly with the car off. Climb underneath and feel the axle where it goes into the knuckle(wheel bearing), the outer tie rods where the connect to the knuckle, inner tie rods where the connect to the center link, pitman arm where it connects to the center link, idler arm where it connects to the center link, and idler arm where it connects to the bracket.
None of those should have freeplay. You'll need to get your hands dirty for this. The nerves in your fingers are more sensitive than your eyes and you'll feel freeplay even if you can't see it
While you're under there, check to make sure your center link is oriented properly. The droops for the tie rods should be oriented down and towards the rear of the vehicle. Without knowing the vehicle's history it's possible it was put on the wrong way at some point. It'll cause all sort of bizarre steering issues... I had chased mine down to that a few threads below this one
See orientation here:
Next grab a jack and lift the front end up via the lower control arms - you want to jack from as close to the outside is possible but NOT on the lower ball joint. The idea here is to get the weight off the wheel but have the suspension as close as possible to it's neutral position. Grab your friend and have him try to lift the tire up as well as try to camber it in and out. Feel the upper and lower ball joints as well as relationship between the axle and knuckle(wheel bearing) for any freeplay. Do the same to the other side.
From there, let the car down and visually inspect where the control arms secure to the frame. There shouldn't be any cracks or missing material. Have your friend jounce the car upside down as well as shove it side to side while you feel the bushings. If that checks out, up in the car and give it a few gas-brake-gas-brake treatments at walking speed. make sure the front wheels are steady and don't move forward / backward indicating there to be a control arm bushing issue.
From what you describe it sounds like your steering box is worn out. Mine had a small amount of play but I was able to adjust it out. I don't have any play in my steering. 1/4" adjustments in the steering wheel cause the vehicle to change directions accordingly. If I hold the wheel straight it goes straight. It's tough to get an idea of how these rigs *should* drive because so many have steering looser than a Kardashian ******
If everything I suggested checks out, I think it would be worth your time to see an alignment shop and get an idea of what all your steering angles are