From experience with a 4X4 you might want to consider a "steering box stabilizer".
https://www.genosgarage.com/category/steering-box-stabilizer
It provides stabilization to the bottom (sector shaft) by adding an external bearing and also helps to stiffen the front frame ears.
Shop around for steering boxes, in fact search here for info, some folks have purchased aftermarket boxes with good success and some have gotten ones that leak either right away or shortly after install. Typically manufacturers warranty their products however that doesn't cover labor for the R&R. My self, I went with the PSC box and although it was a royal PIA to install (the box is slightly larger than stock due to the larger bearings "and" I couldn't use the steering stabilizer unless I modified the hell out of it) I'm very pleased with the results.
https://www.genosgarage.com/category/steering-box
These trucks are notorious for front end issues, especially 4X4 and even more so if you run larger than stock tires (265 or 245 are stock depending...)
Also, look at the upper and lower control arm bushings as well as sway bar bushings and end links. If your sway bar bushings are shot it's less expensive (and less labor than trying to remove old and install new bushings) to purchase new ones. I used
https://topguncustomz.com/ag-1782671.1782692.1782693.1782728-2001-dodge-ram-3500-4wd.html
Tip: to save yourself a tone of trouble, should you decide to change control arms, make sure before you even order that the cam bolts on the front/bottom on the diff are free = move around and can slide in/out. If they don't plan on cutting with a sawzall and beat them out, I tried purchasing them on line and at local parts houses and they were all too small in diameter. I ended up getting them from the stealer, this was years ago so they may not be available???
These trucks are great but not cheap when you start replacing factory (inferior MHO) parts with aftermarket quality parts.
Have fun.