My 01 is doing the same thing. I changed the PS pump, cause it was pretty cheap, didn't help. Took it to the dealer they said that the brake booster was bad. Didn't think this was the problem, but if it solved it, it was worth it, so I bought one and installed it, no luck. I spoke with another member he thought that the gear on the vacuum pump was stripped, so I bought a vacuum pump and installed that, still no luck. I spoke with a guy that said he thinks that the problem is actually the ball joints (they are fine when on a lift, and have never been replaced 155K), but he thinks that when they get a load on them, (weight of the truck on the ground) that it hits a sticky spot that cannot be overcome when at idle on dry pavement. Not sure about that, but I may try it, since the ball joints have some miles on them. I've been leaning towards the steering gear, but I'm hearing that isn't fixing alot of trucks either. I'm kinda at a loss here.