We just bought a 04 F150 regular cab, 2X4-- and we noticed significant vibration in the steering wheel while turning the wheel only when at real low speeds (3-5mph?) and when completely stopped.

 

Mine does that on occasion on rough asphalt. It won't do it on any simi-rough or a smooth surface. I ask the dealer about it and they couldn't duplicate it on their lot. It seems that all it is, is the tires biting the surface causing a strain on the power steering and isn't really anything to worry about. It Could be that the tires are just to soft. I have the BFgoodrich tires on mine. I never had this issue on my 02 that came with the Goodyear Wrangler Ats, much better tire imo. I had them on there until I traded the truck in for this one, 4yrs and 57k miles and still had good tread left on them. I don't see these BFG's lasting past 40K.

 

Mine was having the same problem. I have an 04 also, and the Pirelli Scorpions that came with the truck werent balanced and inflated to the preferred specs. I changed them to a Mastercraft AT tire, and had them balanced and mounted to factory specs, now i dont get a vibration unless I am on some rough terrain ..