It helps if the front wheels are up in the air.
Makes life easier on components.

Rolling the front wheels onto 6-10 sheets of newpaper flattened on the floor works almost as well as jacking it up.

I've found - Fords anyway - back and forth twice will do it for the initial go-round, top off and then a couple more back and forths should do it.

Don't bottom the steering against the stops and hold it there.
Just touch the stops lightly and go the other way.