Power steering is powered by a belt. Easy enough to find since it's the only other component other than the ac compressor or the alternator. If you have a pump or compressor installed. Some were manual steering, not powered.
Can't always follow the hoses from the steering box, some motors have the pump in odd places, like other side of the motor, so the hoses get obfusticated in body panels etc. But can always look at the belts, there will be a pulley attached to the pump, with a belt on it somewhere, even if it's part of something else, like the alternator loop. I've yet to see any remotely close to stock setup use an electric power steering pump.
What year Jeep GC box? I know the intermediate shaft has to be from a Cherokee 2wd, 87-94 years for a 5th gen. Maybe one day someone with some time will make a list of those oddball parts swaps, cuz slop is something that I've been dealing with (I have power steering) too.
One thing that changed my slop in a sizable way was replacing the shocks and springs. The rears were so old and soft that new springs were stiff enough to raise the rear about 4". I had enough slop that even a small nudge on the wheel at highway speeds would move the car like a snake goin down the road. After the change, it's a lot easier to stay between the lines now, but still requires attention.