I always read that to bleed the steering system. You need to get the front end in the air. Tires off the ground. And dont go full lock to lock it puts the steering gear box into an overpressure mode. And doesnt allow for proper bleeding. After turning the wheel slowly back and fourth 15-20 times ( with the res. cap off) pull the coil wire and crank the motor over a few times and check the steering resevoir for bubbles. If there is bubbles, repeat the turning and check again.
(you pull the coil wire so that the truck wont actually start when cranking it over. If it starts youll end up pushing those bubbles back into the system.)
Once the bubbles are gone repalce the coil wire, start the truck let it run for a few minutes. Watch inside the res. for any bubbles.