Yes, the idler arm can causr that condition, but so can many other steering components.
Allot depends on the mileage and how well it's been cared for.
If the mileage is above 75K it may be time to rebuild the front end.
Low mileage, but 10 years can do a lot to the rubber in the control arm bushings.
Check for major cracking or chunks of rubber coming out of the bushings.
The 96 B4U was beginning to have poor feed back on the highway and even worse in curves. I notice a squeek in the left front and discovered chunks of rubber falling out of the upper control arm bushings.