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Steering issue

Possibly check that Nut for being torqued down on the end of the Shaft. 185 ft. lbs. From your pic it appears there is a slight gap on the Lock washer.
 
I saw the video. So on my truck when it's on and wheels are straight and also steering wheel. I could basically turn my steering wheel half way and tires barely move. I checked that pin and I don't see it moving. No play.
Videos might be helpful. But if there is that much slop you need to determine if it is on the input side of the steering box, something on the output of the box or the box itself.

Start by determining if the input of the steering box (the intermediate shaft) operates at the same rate of the steering wheel. If yes than move to the pitman arm. If it moves responsively then your problem is after the box. If your intermediate shaft moves consistently but you get hardly anything at the pitman than your box is wasted.

If the box is fine then have someone dry steer the truck back and forth while you look underneath. A half turn of steering play is going to be crazy obvious. Worn tie rod or drag link joints popping in and out, track bar bushings wasted, etc
 
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