I have done that Chris and all looks fine. I think the vehicle needs to be in motion for the lockup to take place.Yes. You need to have it on the ground when doing this.
Have someone get in your vehicle and aggressively turn the steering wheel back and forth while you're underneath the front of the rig. Make sure the vehicle is running while they do this.
Watch the steering move back and forth while you're under there and see if you can visually see anything binding up. It should be really obvious, but my guess is if you do this, you'll find the culprit. I'd almost bet on it.