my mom had something similar happen to her.
the problem was the guard for the brake rotor was bend into the rotor somehow.
idk how but i bent it back out and the problem stopped.
but it could be the power steering. check the smaller stuff first.
check the fluid level on the power steering.
The truck has a 6 inch lift and 36x15 tires on 20. The truck also has a tool box/auxiliary 40 gal fuel tank, also have a 20k fifth wheel hitch.
what would be the weight of the truck