So this past weekend we got the truck into the garage and started looking at the suspension and bearings. With only 72,000 miles we didn't think the bearings were the cause of the issue so we started checking other possible areas. We found that the lower ball joint was bad. We went ahead and changed the lower ball joint and wheel bearings, at some point they would have gone out and I already had them so while the suspension was torn apart we thought we would go ahead and get er' done. It took us 3 hours and none of us had ever worked on a Dodge before. We did have someone who had a lot of experience helping my Dad and I so if you don't have someone with experience you might want to call a buddy before you tear into this project. There is a DIY on wheel bearnings for a 3rd Gen HD that helped a lot.
Since we just did one side should we do the other ball joint and wheel bearings on the other side? Also, should there be much play in the upper suspension arm/tierod bolts that hook to the wheel assembly? When we put them back on we thought that there was a lot of play and that we might need to fix those next. Everything feels fine and the pop that I used to hear is gone so I know that the repairs fixed the issue but I want to make sure that I don't mess what we did up by not doing the other side or fixing the other possible issues.
On a side note, this site rocks and thanks for the information!