I had the same problem and replaced alot if "iffy parts". Parts that were showing wear..I did upper/lower ball joints, end links, outer tie rods..
I sprayed some grease into the control arm bushings, and it helped, A LITTLE..If you go in reverse up a small incline, turn the wheel hard to one side, its most likely control arm partds or intermediate shaft. I havean 02 rt club cab..The new intermediate shaft made my truck hand like new..( it only has 70K miles and I am very easy on my vehicles). If you have any kind of miles on your truck, try the intermediate shaft next..very easy to do..less than 1/2 hour, and most of the time is finding the tools!