[timgco]

what he said above:
idler/ pitman swap time
front end aligment
rotate your tires and you should be good to go as long as your steering sharft isn;t in need of service.

Also, my dealer told me $700 to $800 to replace the idler/ pitman and front end alingment. wayyyyyy overpriced.
I would look into a setr of tierods (rarepartsextremer duty), rancho steering stabilizer, moog idler/ pitman and support kit.

Do it all at once and you should be good for years. That's the same route I am going per TomP's suggestions.