1994 GMC C1500 steering instability

My inner and outer tie rods feel very free in their ball and socket joints, smooth as "glass". Yet they have no actual looseness and there is no play in the steering linkage when moving the wheels at 3 and 9 o'clock with jack stands under control arms. Can this cause steering wander? Should tie rod ends, pitman arm, and idler arm be replaced at the same time? Thank you.