The ujoint on my passenger side is really bad. So I think that'll fix the issue

 

There is no shortage of places from the steering to the wheels where things can get sloppy. One place to start is at the wheel bearings. The maintenance schedule calls for the front wheel bearings to be repacked every 22500 miles on my '96 1500. That seems excessive to me...but I don't pretend to know what Chrysler knows. Another weak spot on these trucks is the steering column bushing where the shaft exists the tube above the shaft u-joint. From there down through the steering box and out to the wheels, any number of components, or combination thereof can be worn at your mileage. Checking for loose tie rods and ball joints is pretty routine, and there are a number of threads explaining it here.

 

So. I fixed the shaking issue. I took off the passenger tire and had it changed and come to find out, the belt was broken. Shaking problem fixed but now I need to fixed the lose bolts on the shaft