Ok know this feeling, annoying ain't it!?!
Things to check, starting from the steering wheel;
2 UJs on the steering column
Drop arm nut - they can come loose
Drop arm ball joint to tie rod
Tie rod ball joint to swivel
Track rod ball joints (behind the axle)
Panhard rod bushes - holds axle to chassis, the bushes wear.
Radius arm bushes - 3 per arm
Providing that all of these are A-OK then check the PAS box, even with the engine off if you turn the steering wheel you should feel/see the wheels turn.
You'll need quietness for this - If you turn the steering wheel listen for clunks and knocks, you might be able to feel them too.
Last night I did all of this on a mates defender and it ended up being the panhard rod bushes.
Good luck.
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1992 K-reg 200TDI Defender 90 (Eva)
There are a terrible lot of lies going around the world, and the worst of it is half of them are true.
Sir Winston Churchill
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