The idler arm is the most likely first suspect, and it is an Achilles heel but also a pretty simple R&I and doesn't necessitate an alignment afterward as the rest of the linkage does. I kept two and did rebuilds; the dealer here was good about keeping all the bushings on hand.
At 269K with "vague" steering, I'd just get the whole front end off the ground, inspect all of it carefully, and give it whatever love it wants. It should go another forever. Maybe the PO got some greaseable rod ends into it, but none of that stuff was serviceable from the dealer other than to replace it, and that's a lot of miles, highway or no. There was a centerlink recall on those, too; I'm guessing that was done?