And while you have it in the air, grease the spindles, axle and worm gear box.
Probably have a worn follower cam. Loosen the jam nut and give it a 1/2 turn to put a new face against the worm. This should take most of the slop out of the box. Also, your tie rod ends may be worn, there are 4 of them, 2 on the drag link and 2 on the tie rod. A little slop in each of the plus a loose cam could add up to a 1/4 turn or more at the wheel w/no movement of the wheels.
This stuff is all in the manuals available for download on this site.
Good luck!
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