You need to do something called a "dry park check." Have somebody get in the truck with the engine off and the steering wheel unlocked. They need to turn the wheel back and forth about 45-60° over and over and over again. You need to be on the ground under the front end. Put your hand on every single tie rod, drag link and part of the steering system you can see. You will feel slop in your fingers before you hear it which will be before you see it.
Then jack up the front axle so the tires are abut 1-2 inches off the ground. Put the truck on jack stands so it won't move. Grab the top of a front tire and try to pull it to you, push away from you. You will feel and possibly hear any slop. Have your helper find out what is moving. Could be king pins and it could be bearings.
The next check is to put a pry bar with a curved end under the tire with the pointy part in the ground. Pick up and see if the king pins have any verticle slop in them.
This will take you 10 minutes and 1 helper. Every part of the steering system will get checked and no money has to be spent until you know what is moving when it shouldn't. My Hunter alignment book says no "visible movement" is what should be observed for all the parts. Yes, tie rod ends can twist, but nothing else.
After all this is done, parts replaced if needed and you still have troubles. Swap your tires around because you probably have one or more out of round or out of balance.