Multiple things cause loose steering.
1st make sure your rack bushings are good, if they are loose and rack moves around replace them.
2nd lift vehicle up and see if any of the front tires have play. If they have play independent from each other most likey you have bad inner tie rod ends, outers which you replace and or upper and lower ball joints.
3rd it could be the rack and needs updated like stated above or replaced.
4th it could be bad wheel bearings but that dont give as much play as all the other parts listed.
5th you coudl have a bad steering shaft and there are ways to reweld it to fix the issue.
I had lose steering for a long time. Ended up being everything but welding the steering shaft through the column. To finally get solid steering I replaced the rack, inner and outer tie rods ends, lower and upper ball joints. I still have a very little play in the left wheel bearing.
Just so you know if you replace stuff try to use OEM toyota. I have tore through inner tie rod ends on every aftermarket inner tie rod end ive replaced. I have tried three and OEM is only one that has held up after offroading.