There are write ups on multiple different gm forums and YouTube videos. A quick search will show you everything but you'll hear multiple different ideologies about which is the correct way. Some say have the wheels cranked, some say keep it simple and just tighten it.
You only need a 16mm wrench and a 3/16 Allen wrench (supposedly, I just dug through my drawer and found one that fits.)
What I did was loosen the nut on the box, 1/4 turns with the Allen wrench on the hex stud? while hand twisting the steering shaft to check play, and repeated until I got minimal play
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