Just wondered if anyone else has had an issue of when I slow down under 10mph my trucks seems to almost stall. is there something that I should check if it is doing that? It shakes a little bit as well when I am under 10.

Also when driving down the highway my steering wheel seems to shake some and it moves back and forth slightly.

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2004 Ford Ranger XLT 4x4 4.0L with 3" PA Body Lift, 33x12.5x15 Mickey Thompson MTZ Tires, 15x10 Mickey Thompson Class Wheels, soon to be 540 PIAA lights on front!

clean the idle air control valve. get your wheels balanced.

^^ This for sure, especially the wheels for your truck, When they spin em up, they should check for out of round rim also, just to be sure that isnt a issue. I have heard of a tire going bad also that is unable to be seen from the outside.

Check engine light on?

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my 06' did that turned out it was my alternator.

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06' 4x4 ranger all stock but the dick Ceper e/t moutiancats rubber, eagle alloy rims, and stereo

A quick check of the alternator could be done, just hook up a set of test leads to a volt meter, get a reading of your battery, lets say it reads 11.8 volts, then you start the truck, and go test the battery again, it should read between 13.3 and sometimes as high as 15 volts.

If the battery reads the original voltage, or is less from the drain of the start, then it is probably a alternator problem.

check for codes

do all maintenance work as suggested.......TB, maf, iacv, airfilter, fuel filter, look for vacuum leaks.

have you recently moved the truck or turned the wheels with the engine off? check power steering level

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2004 Ext Cab, 4WD, 4.0, Auto, 154k. (4.0 engine is out of a 2009 Ranger w/96k) ( as of 7/1/2017)

2004 Ranger, Ext Cab, 2WD, 3.0, 5 speed , 4WABS, crank windows, no cruise, Edge 116k.(6/5,2014) (SOLD).
1999 Ford Ranger, Reg Cab, 2.5, 5 speed, 2WD, no AC, 150k (SOLD).