How long have you owned this vehicle?
Was it always loose?
If you’ve owned it for years and it used to be okay, it’s wear. Determining exactly what’s needed requires hands-on look-see. In addition to the ball joints and tie rod ends, you’ll also want to consider the shocks. As shocks weaken, they allow the vehicle to tilt more in response to the initial steering input rather than turn. That creates a very loose feel.
If it were mine, I’d check the joints for wear and if they were okay I’d change the shocks and do a good alignment. I don’t think most people appreciate the importance of good shocks to good steering response, but it’s very significant… especially if the vehicle’s center of gravity is raised like it is with an RV on the vehicle.
My money is on the shocks and alignment. Let us know how you make out.