The joints may be fine but often overlooked is the steering damper. Quite easy to see at the front running across from the track rod to a fixed point. Disconnect it at one end and push it in and out. Should be quite resistant. (It could even be missing). Next on the list is the steering box internals. Do you have quite a bit of play in the steering wheel when the engine is off and steering unlocked?

when you say resistant how much force to move it is normally required I can push mine in and out quite easily
 

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