First, before you start walking, do the absolute basic checks. They are free and anyone can do them..
One, check the air in the tires. Use a gauge, not your eye. If you are running a stiff walled truck tire, it could be down to about 10lbs and still look full. If its on the rear, you can hardly hold it in the road.
Then, get in and turn the key on. Don't crank it. Turn the wheel one way until it gets tight, then turn it the other way. How far does it turn? Almost one full turn? 1/4 way, just a couple of inches?
If its more than a couple of inches, get someone to sit in the truck, you go outside and sit down in front. Make sure you trust the person behind the wheel of course.
Then, without the truck running, have them turn the wheel from tight point to tight point back and forth.
Watch for what moves and what doesn't. If parts move and other parts don't, examine the point where the movement stops. You should see a loose connection there.
Let us know what you find.
If you don't see a lot of stuff moving, let us know and me or someone here will talk you through checking the ball joints.
But first check the easy stuff.
J.