Worn idler arm bushings will affect the steering. You can check them by holding the idler arm while a friend moves the steering wheel – if you feel any slop, the bushing are worn. You can also push up and down on the arm to check for wear. Because they’re not the easiest parts to replace, they tend to be neglected on most 2002’s. If you have the engine out or exhaust manifold off, it’s a good time to change them. OEM part #32211115116.