Steering shaft issue, steering is sticky and the steering changes angle

I have an '02 tundra and the steering is having some issues. It sticks at points when turning the steering wheel, and the angle of the steering wheel that keeps the truck going straight changes a bit. Usually straight for the truck is the steering wheel turned 15 degrees to the right, but sometimes straight is straight. When going over some bumps the play in the steering that I don't usually notice makes me need to turn the steering wheel to a bit to a new place to continue going straight.

I took off the cover for the lower steering column u-joint and there is a lot of play, and maybe too much grease. You can move it side-to-side a bit by lightly pushing it, and it moves side-to-side when steering, as well. Also, the collar in the middle of the second picture just slides around. I've been hearing it rattling for years. I'm not sure if it has to do with this.

I have more pictures here and also videos. But the link is temporary and will only last three days.
https://we.tl/t-P5MSdvH3h1

What is it exactly that I need to replace? I've never had to open up this part of a truck before. Is there supposed to be a seal at the bottom? It seems like a very large opening.

Sorry for these pictures. I couldn't get them straight. They were taken in portrait mode and the forum doesn't seem to like that. Thanks for any help.

 

You've left a lot of helpful information out. Here's your previous thread with steering issues and more descriptions. Your steering shaft seal / bushing is obviously shot in these new pics.

https://www.tundras.com/threads/2002-4-7l-toyota-tundra-steering-issues.107744/#post-3976249

 

For one, you need to replace the steering shaft seal. Man, that must be aggravating hearing everything from the cab.

Like most common problems, we have a sticky on the subject, it's right here: https://www.tundras.com/threads/diy-steering-shaft-seal.48664/

 

I'll go ahead and replace the seal, then. Thanks. I don't really notice any noise. Maybe it's been like this since I got it? I don't know. Hopefully it will be a big improvement.

There is some more information that may help, but I'm not sure.
1. I replaced the upper and lower control arms because the aftermarket upper control arms the previous owner had installed had the wheels at an angle for off-road racing or something.
2. I upgraded the struts because my heavy bumper and winch frequently had the suspension bottoming out.
3. I replaced the bad shocks. Those had been shot for years.

Those three things I did at once. I don't remember if the steering wheel was off-center before this, but I think it was. That was a couple months ago. Then my dad aligned the truck and for some reason ended up having to adjust the tie rod on one side way out and the other way in. And after that there were popping sounds when turning, to either extreme, I think. When he aligned it, the steering wheel started off straight, but it turned as soon as I started driving it.

Because of the tie rod positioning and noise we:
4. replaced the power steering rack. I'm not sure if we had to, why the alignment didn't work out confuses me, but whatever.

After he aligned it again, the same thing happened. The steering wheel was straight on the machine, but as soon as I started driving it turned. I saw the u-joint and seal when I was trying to make it easier to get the steering column on the rack.

 

I mean, if you want to know, you can always stuff some insulation in there like (I think @Jack McCarthy ?) did.

 

What happened with him?

 

His noise was reduced.

https://www.tundras.com/threads/diy-steering-shaft-seal.48664/page-2#post-1967624

But it probably didn't help in any other way.