My truck has quite a bit of play in the steering, but I take it on the highway occasionally anyhow. I know what you mean when you say uncomfortable.
There is a procedure for tightening the steering, and it seems to help a bit.
http://chevy.oldcarmanualproject.com/shop/1941/41csm225.htmFor me, new tires made a big difference inflated somewhere near 50 psi.
Also, my steering arm and steering knuckle balls are worn and should be replaced. At the same time there is a kit for replacing the cups and springs in the drag link.
Mine is a half ton so maybe the steering is different than yours.