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Just to be clear, the truck was swaying when you went around things... as in the truck body "rolled" when you went around a pot hole for example? Need a bit more info. Do you have power or manual steering? I think we're looking at two different issues here....
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Ok, whenever I am going around a corner at about 50mph or better, it "shakes." Like as if I were to puposely steer left and right repeatedly back and forth to give the wiggle effect. That's what it's doing.
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do you have a front sway bar?
has the adjusting nut on the steering box been fooled with?
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Yes, and no I havn't touched it. However whenever this snow clears it would probably be a good idea to crawl under there and check for loose bolts.
Neither one of these addresses the rag joint problem though. As to why it has stiff steering at certain points.