I recently repaired my steps, including full R&R to address part of the wiggle.
The shoulder bolt for the sliding arm. To access this for me it was necessary to cut an access panel from on outrigger about 6" square. It's fully underneath and not visible at all unless you go under and look for it. That allows reaching both bolts. I also put masking tape over the cut edges to save bandaids. Jig saw, extra fine tooth blade, eye protection and not a big deal. Then I made new cover panels and attached with hex head sheet metal screws.
The front (short) arm anchor into the outrigger. That nut and bolt was tight, but loose in it's anchor on the outrigger. IIRC I added a washer somewhere to capture the shoulder of the bolt. Sorry, details a bit sketchy but with some inspection I think you can see the slop factor.
The big item for my rig was the hook in the outrigger was a bit weak and worn. That took some fabrication but all hand work no welding. Steps are now quite solid.
2005 Dodge Ram 2500 5.9L 6 Speed
16" Michelins, Hi Spec Wheels, Max Brake, Dexter 4 Piston Disc Brakes, Carslile Actuator, Equal-I-Zer, Dill TPMS. Campfire cook. BMV-712