Fluid level in the brakes??? OK. Rope in a buddy; crawl under the car. Have the buddy work the wheel back and forth through the free play while you look at all of the tie rod ends and levers that make up the steering system. If one component is moving and the next in line is not you have found a culprit. Make note of what's tight and what's not. Replace loose items. When they're all tight check the steering box. Check all bolts that mount the steering box and/or idler arms. All boxes have a certain amount of adjustment to take slack out of the gearing. You'll have to consult a manual to see where these are. Adjust as needed. Lube everything. Drive away.
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