Yo
Welcome!
Following on steering issues is from,
96 Bronco-F-Series Workshop Manual (PARTIAL) by FORD via
http://www.diesel-dave.com/vehic/manual/stj/stjleft.htm
Same as most earlier years especially 92-96, except for: OBD II in 96; 4WABS (93-96); RABS (87-92); Air Bag (94-96); 3 ***** Automatic Locking Hubs (Built from May 95 through 96); Spark Plug Wire Routing & Firing Order (The firing order for 1987-1993 5.0Ls is 1-5-4-2-6-3-7-8. The firing order for 1994- 96 5.0Ls & all 5.8Ls is 1-3-7-2-6-5-4-8.); R134a in 94-96;
2-piece Spindle Rolling Diaphragm Seal (RDS) used on 5/95 to 96 Broncos & F Series 1/2-ton 4WD;
and a few other items that I still need to research such as Mass Air Flow in 95 5.8 California models and in all 96s, other years used Manifold Absolute Pressure Sensor (MAP).
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STEERING SYSTEM PROBLEMS
http://www.diesel-dave.com/vehic/manual/stj/stjb0003.htm
See this Section 11-00: Steering System, Service
DIAGNOSIS AND TESTING
Symptom Chart — Steering System Problems
pick out the issues that apply.