I agree with fordem's diagnosis. I have driven a couple Trackers that you could feel the tiny u-joints in the steering shaft binding during turning. Why do these little buggers go bad when others seem to last forever? I suppose it might be a truck that sit for extended period of time? That's only a guess. At least fordem provided a replacement part number source.
Most likely if you had taken your current problem to a local Chevrolet dealer (back in the day when they still sold them), their diagnosis would have been a LOT more expensive, and probably not cured the actual u-joint issue. They wouldn't even have a part number for those tiny u-joints on their books. Their cure would MOST likely have been replacing the whole rack and pinion unit, because they wouldn't know what the real problem was... and then replacing your entire steering shaft assembly. All very expensive. They don't deal in Trackers anymore and offer very few factory repair parts for them now.