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I have a 1992 Bronco with 351w, dual steering stablizers, 6" custom suspension lift, and 3" body lift. My steering wheel can turn around about four inches side to side without turning the tires. once it hits that point it turns fine with little effort.
the alignment is way out of wack, and when I put it in reverse the wheels have extreme negative camber and toe-in, but the instant it goes into drive they straighten out. I haven't yet gotten my steering aligned, and it is out of alignment in drive, but i found this wierd that reverse changes this.
I've heard new wheel seals, wheel berings, or new alignment brushings will fix the problem, what works
not sure on the 92 column, but on the 87-91 setup, there is a teflon bushing in the slip yolk on the lower column shaft. if the bushing falls out, you will get about 4 inches of play in the wheel.
go through the driver side fender and look where the lower column slip yolk is. hold the bottom of the shaft neer the steering box, and have someone rock the steering wheel side to side. if the bushing is missing, you will know it rite away.
The toe-in during reverse is pretty common with the TTB axle. Usually caused by radius arm bushings being worn. If you have this problem going forward, I would definitely say ball joints and you need some alignment bushings with more adjustability.