The steering linkage consists of the following components: 
On some S4WD vehicles, the steering shock absorber attaches to the relay
rod.
When you turn the steering wheel, the gear rotates the pitman
arm which forces the relay rod to 1 side. The tie rod ends connect to a shaft
that is      part of the relay rod assembly. Turning the steering wheel transfers
the     steering  force to the wheels. Use the relay rod shaft in order to
adjust      the toe measurements. The pitman  arm and  the idler arm support
the relay      rod. The idler arm pivots on a support  attached  to the frame
 rail.  The  steering   shock absorber attaches to the frame and the relay
arm.
On models with rack and pinion steering, the interaction between the
pinion and the rack teeth converts the steering wheel rotation to lateral
     (side-to-side) rack motion. As the rack moves laterally, the rack pushes
    and  pulls the tie rod ends in order to turn the front wheels.
The condition of the steering linkage affects the steering performance.
Potentially dangerous steering action will result if the parts are:
If you repair or replace steering linkage components, inspect the steering
geometry or the front end alignment. Refer to 
Wheel Alignment Measurement 
in Wheel Alignment.