MikeAlex [Canada][01 DGR RT]
mikealex@playground.net
Usually common problems are well documented on this forum, but this is the first I have read about sloppy steering. I certainly don't notice that on mine, but mine is a 2001 which have R&P steering.
I would talk to your dealer again, and get it fixed. If the warranty is over, I would argue that you reported it during the warranty period, so it should still be covered.
...Mike