i can't help with the steering issues. i need to address them myself.
the dealer replaced my steering shaft under warranty at 83,000 miles. it helped. if it was out of pocket i would have picked an aftermarket shaft. i have had four 4x4 2nd generation rams and all have required at least one shaft under warranty.
i can tell you that i have a 4x4 2001. 5 with an afe intake, 4in exhaust and edge ez. i am pleased with the performance. you can get the edge comp box and just not tap the wire on the vp-44 and you are left with basicly an edge ez (i'm told??). it might be the route to go if you plan additional upgrades.
if you do the upgrades make sure to add gauges. the egt's climb pretty quick with my set up. they are not out of hand but it is a good thing to monitor. mine is an auto so i could not install the boost elbow. i think that will help some with egt's on your application. if you install a fuel pressure gauge it is likely you will find a weak lift pump too.
my truck runs well and can still get 20mpg on the highway.