I am guessing you have the same problem I had. Jack up one front wheel and grab the wheel at 9 and 3 O'clock and push back and forth gently. See if there is some play. If so look at the inner tie rod joint about a foot from the end. This is where mine was worn. You have to replace the entire assembly which is known by any of 3 names: Center link, Drag link, Tie rod assembly. I also needed a steering damper but that does not cause the play. My idler arm was fine.

Mike

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1998 C230 330,000 miles (currently dead of second failed EIS, yours will fail too, turning you into the dealer's personal human cash machine)
1988 F150 144,000 miles (leaks all the colors of the rainbow)
Previous stars: 1981 Brava 210,000 miles, 1978 128 150,000 miles, 1977 B200 Van 175,000 miles, 1972 Vega (great, if rusty, car), 1972 Celica, 1986.5 Supra