I adjusted my steering box at 40,000 miles and it made a huge difference. Here is what I did. Since you have a 4X4 the steering box should be the same as mine. On top of the steering box there is a 5/8 nut locking an allen head bolt. Since there is not enough room to go underneath and adjust the box, I took a 3/8 drive 5/8 deep socket, a universal, a long extension and ratchet and came in from the top. Loosen the 5/8 nut. It will be TIGHT. Put the allen wrench in the bolt and turn CW looking at the top of the box about 1/2 to 3/4 turn. Tighten 5/8 nut and drive it. You should notice a difference. If it still feels sloppy, then repeat the described procedure except adjust in 1/4 turn increments until you are happy. After each adjustment be sure to turn the wheel full left and right to be sure the steering gear does not bind.

Initially I adjusted mine too tight even though I had no binding. When I drove it I fought it all the time. I was constantly moving the steering wheel and that is a PITA. I adjusted the allen bolt CCW until I was happy. All steering boxes need a little slop or you will fight it as I did.

DSMMH