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Maybe Dumb but lets talk

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12inch Nav Updated...Seems Better

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You can center the steering wheel yourself if you pay attention and mark where you start from. Centering is done by moving both tie rod end adjustments the same direction. The hard part is figuring out which direction to turn each side, as some are both right hand thread, some are right on one side and left on the other. Based on where your wheel is, the adjustment should take very little movement of the inner tie rod.
You want to move the front of the tires to the left. So mark your starting inner tie rod position exactly to the tie rod. Then move the inner tie rod one or two full turns in one direction. Note which way the front of the wheel moves, then return to original spot. Do the same on the other side. Note for each side which direction you moved the tie rod to get tire to move left. Write it down!
Now from the original position, adjust both inner tie rods 1/8 turn in the direction that moved the front of each wheel to the left. Leave the nuts loose and drive it to check steering wheel center. Make fine adjustments until you get it straight while driving. Remember in order to not change the toe adjustment, you have to move both sides exactly the same amount. Tighten the lock nuts making sure the inner tie rod does not move.
 
As an aside: what’s the door sticker FAWR on your truck?

My ‘04 2500 is 3900-lbs. I know it was rated upwards later , but haven’t learned to what number.

Also, as to steering complaint. Tire pressure all around can affect steering. Take overnight cold pressure and get truck onto CAT Scale. Max fuel, driver & normal gear.

Observing the door sticker range, use the tire manufacturer Load & Pressure Table to dial it in per scale load value. Not over or under. Pressure too low is worst offender. Are you having to do a fair amount of countersteering?

2WD wears out the anti-roll bar links & bushings. R&R. A loose bar is a problem. (I added a rear bar of the smallest dimension offered, and upsized the front the smallest amount. New links. For a CTD, it’s a Corvette in handling. All bushings are now polyurethane. The bars act faster. Ride is with greater vibration, though. No free lunch).

What shape are the front spring dampers? Ever bottom out?

BILSTEIN 4600 is good (minimum level acceptable)

As to alignment there’s always difficulty. Look hard for best shop. I’ve had mine 13-years and haven’t ever needed an alignment. Tires go well over 100k. Might rotate once.

FWIW, I wouldn’t consider using a steering stabilizer with Rack & Pinion. A tire blowout isn’t the same problem with IFS.

Straight axle problems are another world. May as well be a different brand altogether.

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