I just had the same issue with my truck. I had to replace the front hubs and the left inner tie-rod.
Front hubs: 475.00 for both and the tie-rod was 140.00 installed. Then have the front end aligned.
To check the front hubs; jack the tires off the ground and place one hand on the top and the other on the bottom of the tire. Now, see if there is any movement when you try to move the tire up or down. Any slop, replace hubs. When hubs are replaced check the tie-rods. Hands 9 and 3 to see if there is movement. You may won't to let the tire shop check and replace them.
I did the hubs and the tire shop did the tie-rod and alignment. I saved 500.00 doing the hubs myself.
Hope this helps!