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Just picked up a '91 F-150 4X2 and the thing was a work truck for most it's life of 155,000+ miles.
The steering is "weird" while going down the road, like it's almost loose, wanting to wonder and pulls to the right a small bit.
Put on the brakes, no shudder and goes dead straight.
The big problem is the power steering works feather light to the left, but Mack truck manual steering to the right. Got no idea where to look first.
first step would be to check your power steering fluid and check for any leaks. if the truck is pulling to one side when going down the road id check the ball joints and tierods and basically everything else in the front end, as well as grease up the balljoints and tierods if they are equipped with grease fittings (which they should be).