Put the front of the truck on a pair of jackstands (don't use the jack that comes with the truck! It's not strong enough!)
Grab a wheel at the 3 & 9 o'clock position, and rock it back and forth. If you get movement or hear/feel a clicking sound, that indicates a steering linkage problem.
Grab a wheel at the 12 & 6 o'clock position, and rock it back and forth. If you get movement or hear/feel a clicking sound, that indicates a ball joint or other suspension problem.
Spin the wheel. If you hear a gritty sound, that indicates a wheel bearing problem.
At 206k miles, I wouldn't be surprised if you had one or more of these issues - stuff wears out over time.

If you have any of these problems, don't delay in getting it fixed. If a ball joint pops out, you'll be facing several thousand dollars in body damage, as well as the suspension repairs.
Chip H.