When driving down the road sometimes, or coming to a stop, I get a vibration or sloppy feeling to the steering. Almost like warped rotors, but it does it sometimes while just driving and not braking.

I jacked up the driver side of the truck, that front wheel off the ground only. I grabbed the wheel at 3 and 9 and tried to move it side to side. I could hear a clicking noise and the steering shaft would also move with the movement I made.

Being that the other wheel is planted firmly on the ground, does this seem normal? Seems like the wheel and shaft should not be moving like that if the other wheel is planted on the ground.

 

Check both tie rod ends. Even with the other wheel on the ground there will be movement if the tie rod end is worn out

 

Thanks. The outer tie rod ends look to be fine. I'm wondering if maybe it could be the inner tie rods. Similar to this video:
Are the inner tie rods known to go bad? Not sure if there is an idler arm either. I had the lower steering shaft replaced recently. Looks to go straight down into the rack.

I have a 2007 with about 50,000 miles on it.

 

The inner tie rod ends do go bad as in the video, could be yours is bad. Not very many miles for that to be bad IMO, but, it's possible. There is no idler arm on a rack and pinion system.