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First, welcome to the site. Secondly, the first thing you should check is the steering shaft coupler, where the shaft goes into the gearbox. There is a really inexpensive fix for this, the parts only cost about $10 or so from your local Dodge dealership. Read the How-To section for how to fix it. That's prolly the starting point for ya.
 

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Check that and also check the tie rods and ball joints for excessive wear and play.
 

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2WD or 4WD?
Bottom line is it could be any of several things that the others have mentioned.
Grab your steering shaft and see if it has excessive play by trying to wiggle it left and right. Anything more than an 1/8" is too much and would indicate a worn shaft.

Get a light and crawl underneath and eyeball the steering box. Make sure is is bolted on tight.

Eyeball the rag joint and tighten the bolts and nuts.

Eyeball all your suspension and try to feel around for loose components.

Could even be worn bushings, ball joints, loose bearings, etc etc.

First step is to eyeball the whole front end.

Mac

 
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