Welcome.
Worn joints like pitman, idler, tierods, etc can have a lot of slop that eats up the movement and control.
Find all the worn components and replace them to start with. Be careful to get them adjusted as close to original when installing. Be VERY careful when you test drive, as the new parts can theough the alignment off, often it does alter it. plan on an alignment after the parts.
When i was younger, we used to take the rig into shops that had free estimates. Then double check the parts they said were the issue Incase they were just selling unneeded parts for more profit. Swap the bad parts, then take it back and have them do just the alignment.