David -- Do as Tim says and if you do not see a dramatic improvement in your steering, then we will all be very surprised.
With only 42K miles, my best guess is you have fossilized grease, underinflated tires (underinflated bias plys are NO FUN to steer) and general stiffness from lack of use as your main culprits here. Hard to imagine you need to do a major resto of your steering components, but a lot of sitting over the years/ lack of regular attention may have caused some issues ... might be worth a detailed check of everything from the king pins out.
My '49 1-ton has it's all-original front end. We've adjusted everything, greased everything regularly and I put brand new 17-inch bias plies back on it last fall and the truck has no steering issues to complain about (it isn't as low mileage as yours, but not bad ~65K). A slight bit of wander above 70 MPH
