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I haven't heard of the official Ford fix yet, but it seems to be worse with diesels. There was some talk of the diesel steering pump being under-designed (lower pump flow), and of course the diesels are heavier. If its fluid contamination, the fix is to flush the system and if that doesn't work, start throwing parts at it (pump, gear, hydroboost)
If its not contamination, and the scrub radius is not an issue, then its got to be an under-designed steering pump.
By the way, the NHTSA has got a safety investigation on this problem, EA00-017. You can reach them at: www.nhtsa.dot.gov/hotline
The official response from Ford is that there isn't a problem and if there is "it's normal". I have also filed a complaint with the NHTSA. My Ford is a F250 Triton V-10 year 2000 and if the brakes are on, I can't turn the wheel. Ford corporation told me to work with my dealer on a solution, but the dealer says that Ford has put out a service bulletin and there is a no fix on this problem. The more complaints made to Ford, the more acknowledgment there will be regarding this SAFETY issue. I have not lifted my truck but have added 35" inch tires. When I got into a Dogde and Chevy truck, both with 35" tires, the wheels turned just fine. In fact, it was like butter - the way it should be on mine. It has also been noted that Excursions are prone to this problem also.
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