The brake problem is most likely adjustment of the master cylinder pushrod, but could be the VH44. 
The steering relay has no adjustment. Free play will come from one of the following, and it should be easy to find which.
1. Either bottom or top arm is loose on its splines. Tightening the pinch bolt may work, but it most likely means replacing both the relay (or shaft) and the arm. Note that the pinch bolt must be fully removed before the arm can be. 
2. Relay unit is worn out due to operating without oil. Bushes can be replaced, and the shaft as well if necessary. Do not attempt to disassemble the relay unless you understand what you are doing. It includes a powerful spring that can kill you.
3.The relay is moving due to wear on the locating ring on the bottom and possibly the bottom plate of the relay. These can be replaced in situ, and the bottom plate can be safely removed.
4. The top is moving due to the holding bolts being loose or the brackets they go in welded to the chassis being broken.Hope this helps,
John
				
			 
			
		 
			
				
			
			
				John
JDNSW
1986 110 County 3.9 diesel
1970 2a 109 2.25 petrol
			
			
		 
	
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