Apparently, a linear free action exists only for $p=5$ (if $pge 5$), see paper by C. Thomas "Almost linear actions by $SL_2(p)$ on $S^{2n-1}$". There is a weaker notion of an "almost linear" action, and it seems that constructing such actions is a fairly complicated business, using state-of-the-art differential geometry and topology; see arXiv:math/9911250. It seems that simple explicit actions for higher $p$ are not expected (also, of course, the sphere must be odd dimensional, since an orinentation preserving self-map of an even dimensional sphere has a fixed point by the Lefschetz theorem).
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