We have seen many customers replacing absolutely everything on their vehicle and not seeing any results. We suggest starting with this inexpensive fix first to see if it helps solve your issue before dumping a ton of money into parts you may not need.... or at least if you are replacing the ball joints, add these on and do them at the same time to maximize your results.
The Intermediate shaft is located under the hood near the brake booster for 2003 and some 2004 models, but mostly it is located inside the driver side cab near the gas pedal around shin height. You can remove it if you like, but you don’t have to. There’s enough room in there to get them in without removal from the truck.