It can be several things. A failing gearbox can create that problem as well as a pump going bad. A rag joint can even show some of the same characteristics. If it is a D60 axle, kingpin problems can cause alot of friction and make the same problem. I have even seen a bent steering stabilizer put a hard spot in the steering. There shouldnt be a significant bend in the draglink.
You are correct on the 4x4 pitman arm only going on one way. The splined ones from the 2wd boxes have 4 index points in them(if you need that info in the future).
If you know how to work on your truck safely... .
What you need to do is:
Lift the front of the truck off of the ground and get it on some beefy jackstands and block the wheels and set the e-brake and all the other safety items. With the truck not running, turn the wheel from one side to the other, full lock. Is it the same? Check balljoints and TREs. Check the kingpins,if so equipped. Double check the frame for cracks. Look to see if the knuckles are hitting the bump stops. Remove the pitman arm and move the wheels from side to side and see if they hit the bumpstops now.