[thundergod1320]

With the vehicle running, wheels blocked, in park with brake set, have someone turn the steering wheel slightly in both directions while you watch each individual component. That should give you an idea of whats moving that shouldnt be. Unless the ball joints are really worn, you may have to jack up each wheel and seperately check those for play.
If a diff cover bolt gives you trouble, take an old socket of the correct size and place it on the bolt head. Give it a good shot with a hammer... this will break the rust bond under the head and it should come out. If you do manage to break one, they're pretty easy to get to, so just drill it out, clean up the thread with a tap and replace it!