CD is all over this one. The right idler arm is #1, the left idler arm is #2, and the tie rods are #3 for slop in steering on these vehicles. MOOG "Problem-Solver" parts are a must if you never want to have to do it again.
No rack and pinion. This is a mid-sized van, NOT a mini-van, and therefore requires real truck components. A recirculating ball worm and sector steering gearbox is used, just like on every other real truck.
Expect to need an 18mm socket, something to remove a cotter pin, a separator fork, appropriate hammer, and a grease gun. No need for alignment after replacement, but it never hurts to have the alignment checked in case something else is out of spec.
In lieu of the fork and hammer, you can "cheat" with air tools:
You'll also need a 7-8mm wrench to install the grease fittings in the replacement arms, and the nuts on some of the replacements are 17mm.