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Getting the pitman arm off requires the correct type puller, the chicom ones avaialbe at most parts store are failure prone. I recall my snap on one costing about $150
Torquing the nut is also problematic in that the torque spec is higher then most DIY'ers torque wrenches go. If I recall correctly the nut takes 230ft pounds and red lock tight. A new nut is a good idea.
(Double check that torque spec if you do this yourself )
Sounds like you have a sloppy front end. Check tie rods, and ball joints, all front end parts. Here's a ford owner tip. Don't drive the ford, or it will drive you. Meaning, fords tend to have a slight movement in the steering, and a tiny wonder. So all you need to do is catch the movement of the suv from left to right and hold it there, and try not to steer it. Turn the key on to unlock the column, but don't start it, have a buddy turn the wheel left and right and inspect all the parts.
1997 f350 351w 130,000 , k&N, Custom exhaust
2003 f350 v10 triton 132,000 , time to play with the new toy
06' f350 6.0, 6spd, chip, 35's, 212,000miles
The dealer who did my other one's definition of a road test was if it could be driven off the lot to the road If I was in civilization, I'd probably do it but with the closest auto parts store 30 miles away and my other means of transportation being an ATV, I'm gonna punt on this one as a do it your selfer.
I need to find a good alignment shop which out here is probably about 200 miles. I guess I could make it a road trip-spend the night and hang out with my dog until it's done.
If your doing just the steering box no need for an alignment. Touch the suspension parts ... then yes.
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