Thanks for the help guys. Ended up replacing the steering gear box, pitman arm, and power steering pump.
Ford was the best price for the steering box, 4 West for the pitman arm, and Napa for the power steering pump. All for under $500, and quite a few hours and lots of beer....
Leedom: Yes, it's a 2002 with the ZF6 6 speed manual tranny. It was a custom ordered truck from the factory.
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