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I'm surprised no one has responded yet. The answer is MAYBE. My 99 chassis DOES so I will assume yours does too. On the top of the steering box you cannot see it but you can feel it., There is a sector adjuster nut with an allen bolt center there. Loosen the nut WHILE you hold the allen key to make sure it doesn't turn with the nut. Make a tiny move tightening it in MAYBE a 1/4 turn then test drive. If some improvement do it again but CAUTION is the name as you can do TOO much. There must be a bit of play. It is trial and error. ALL THIS ASSUMES that there is no issue with any worn out parts in the steering gear. This adjustment is not usually needed unless something is worn. You may have play in the front suspension(spring bushings/shackles) which will show up as play in the steering.
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Bob and Karen. Retired and enjoying life's journey! 
1999 Southwind 35S on a F-53 chassis our first class A
Loving this retirement thing!
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