I just installed upper and lower ball joints and now my steering wheel shudders when I turn it. I cranked the wheel with the truck off and some power steering fluid leaked out so I figured it was that, but I bled it and nothing has really changed. When I have the front wheels off the ground the steering feels fine (truck on or off), but when it's on the ground is where I have problems. I just read a post about someone saying that they had the lower castle nut too tight, but my book said something like 83-103 ft. lbs. I don't know if want to loosen it or if it's my power steering.
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Check to make sure the serpentine belt tensioner is moving freely . put a wrench on it and partially remove the belt to see if it is keeping spring tension on it and not binding allowing the belt to slip.

 

So it's just air in the system? Doesn't that blow itself out very quickly since it's not a closed loop system?

Mine JUST started doing it after getting in a new transmission last night.

 

When you turn the wheel with the engine off, it forces the fluid back out of the system and lets air in.
To bleed it just drive around slow (or stop with the engine running) and crank the wheel back and forth over and over and let the air work it's way out, keep the reservoir topped off.