Next to stopping, your truck's steering is the next most important thing. First thing to do, is to secure the truck and put the front end in the air on jackstands.
With the tires on, check the kingpins. grab each wheel at 12 and 6 o'clock and push and pull on the tire. If you can move it more than about 1/4", you should look further.
Check the draglink, and tie rods for wear. To do this you need to look for round holes that are not round but eggshaped. Also look for broken or missing parts to the ends. Also look at your steering arms and make sure they are not bent, cracked or loose on the back of each wheel.
Spin the wheels slowly and feel for rough wheel bearings.
I am sure you will find things that need attention, if not, take to an alignment shop and check the toe-in.
