This was going on with my friend's 2019 RAM, don't know if it has anything to do with your truck's situation. Scared the crap out of me when I drove his truck.

LINK TO STEERING ISSUE CLICK HERE

https://board.moparts.org/ubbthreads/ubbthreads.php/ubb/showflat/Number/2931871/Searchpage/1/Main/240439/Words/%2Bsteering/Search/true/re-2019-ram-1500-bh-steering-notch-issue.html#Post2931871