On some of the older chassis there was a large cotter pin that could be removed on the linkage rod that runs from one side of the steering to the other or from one wheel to the other. At the end of the rod there was the cotter pin and buried in the grease and dirt there was a large slotted screw that could be adjusted to take up the slack.
This adjustment, if it is there is usually right where the pitman arm joins that linkage rod. The pitman arm is that sort of S shaped arm that comes from the steering box.
You may want to get some help and with the engine off, have someone move the steering wheel back and forth slowly while you watch to see what is NOT moving when it should be.
Loose steering could be many things, tie rods, idler arm, steering box, ball joints or king pins, or even a device called a rag joint.
My advise would be to do the rock and roll with the steering wheel first then make a decision if you can handle it or get the help of a pro.
Ray, Sandra, and Zorro
2009 Safari Simba 34SBD
Workhorse (Of Course!)