Replace it all. Centerlink, idler, tie rods, ball joints, bushings, etc. Stock rebuild will make it feel new. Use quality Moog components, not chinese white box stuff. Adding poly bushings will tighten up further. Add Bilstein shocks for top level damping. Change rag joint, check box for free play and adjust (see manual) or replace with rebuild. Add larger front sway bar, add rear sway bar for great upgrade in cornering competence. Use stock height new springs with higher rate (or .5 or 1" drop) for even better handling and feel.