Les,
I did it on the truck and got it all wrong. I was trying to get rid of the steering play.
It turned out that the play was caused by the trackbar end that had worn out at about 37,000 miles. My GREAT dealer, Batesville Dodge, in Batesville, IN, paid for the part, even though it was out of warranty. We both understood that the trackbar didn't wear out in those last 1000 miles.
The mechanic at the dealership told me that the adjustment is easier to do (and probably easier to get right) off the truck. Be sure that's what you need, though, before you mess something up.
Loren