Ford replaced my ball joints under warrenty, they had a Tech Bulletin on the 2000 SD250/350, the steering was hard, Ford replaced them, the new ones had zerks in them (grease fittings), steering was much better after the update.
Keep an eye on the Tech bulletins, while in warrenty, I had alot of updates by chasing them.
Art
2003 28E33SB Titanium, Ford 2000 250SD PSD ExCab Long box
From the Hills of Hope in the Land of Maine