Here's a great walkthrough by an amateur mechanic who took on a used 2002 Ford F250 Powerstroke Diesel after some hard years on a working farm. The truck had a number of front end problems, which Ford Truck Enthusiast forum member AMG-SM diagnosed, repair, and documented from start to finish:
I started by searching for past threads on this forum and others on wandering and front end work to try and determine what the root cause might be and how to fix it. Most of the threads were rather vague on the cause and too many threads had the solution pegged at throwing lots of money at it or that the solution was only satisfied by the dealer b/c the F250 suspension was complicated. Others claimed that all you needed to do was tighten the allen head on the steering rack w/o any thought to condition of tie rods or ball joints which didn't sound right.
So I did some more research and worked through this step by step.
He ends the post with ten hard-earned lessons for any amateur mechanic tackling these repairs. Keep this one in your bookmarks, so you can pass it along where it can do the most good.