WD40 on the U joint did the trick, even with my yoke too tight the steering has noticeable self-centering now!

 

You can limp it along with the WD40 trick for about a year but plan on replacing that u-joint in the future. Be sure to make alignment marks so the new one goes on exactly the same otherwise you screw up the steering angle sensor.

Fix the pinion angle on the R&P before it causes too much extra wear.

 

I squirted a little 85w-140 gear oil into the U joint. Hopefully that keeps it smooth. I set the yoke tension bolt by loosening it until the steering wheel didn't seem to have any excess friction (car raised in the air), and then tightened maybe half a turn from there. Steering feels fine; it's light and has a reasonable amount of centering force (would prefer more, but I doubt the car is designed to do that even when new).