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Could be loose, worn or damaged: steering linkage, tie rod, steering column u-joints, steering column bearings; damaged or worn steering gear; or loose steering gear bolts.
I would definitly check your tie-rods and ball joints.
Look at the steering shaft under the hood and have someone move the wheel with in the loose travel. Do this with the engine off. The u-joint is a common problem. But if your lucky its just a tye rod end. You can test these the same way.