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From what I can understand of your post, here are my thoughts.
You should take it in for alignment. Make sure you wheels are balanced, etc. Get the easy stuff done first. BUT before all of that, check your steering linkage. Can you get it to move (rotate the linkage, back and forth...)? If so, replace it. That is not a hard job at all. Only problem is the Moog parts will cost you about 400 or so.
You will have to get the whole steering linkage, because on ours there was more joints in it then just the tie rod ends. IDK on a 4x4.
2000; F250; 7.3; 2wd; manual tranny; extended cab; 121k miles