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tires are ok airpressure you have a joint on the end of the steering colume check for seizing up or loose as well are all the steering and suspension components tight have you checked balljoints,tierods,shocks,coils,and table bushings very important no loose anywhere
a bad idler arm/pitman arm,
You will have a hard time trying to keep the car going straight, it will wander all
over the road.
Road walking. When the vehicle wanders back and forth in the direction of travel and it is difficult to keep it straight.
When sitting still, there is considerable play in the steering wheel. It can be moved considerably with no resistance.
When sitting still, and with the front wheels off the ground, it is possible to move the wheels side to side without the steering wheel moving. If there is to much play in the steering wheel or side to side movement of the wheel when the vehicle is stopped could indicate there is a problem with the idler arm.
the main problem is that someone is trying to drive it way too fast. narrow wheelbase and high center of gravity have spelled fatality many many times and nearly killed the Ford bronco II. it seems obvious to the casual observer but thousands of deaths and lawsuits resulted in recalls consisting of video tapes telling folks that you do not drive vehicles with narrow wheel bases and high centers of gravity very fast. The second problem is that the thing is nearly an antique. every part on that vehicle will fail from either time or use, or a combination. So 16 years of time and use have worn out every suspension and steering component. If you want to drive fast, get a low slung wide track unit. If you want it to drive like it is new, replace all the steering and suspension components and get a good 4 wheel alignment.
The Jeep has steering idlers (short 7" arms) that eliminate wandering. Sounds like they are worn but FIRSTLY check that you have 4 identical tyre pressures as just one tyre front or back being low will give you the wandering sensation in a 4x4
Unfortunately this was a concern on this vehicle, even new they had a tendency to wander all over the road and **** around when hitting bumps and ruts in the road. Inspect your tie rods and ball joints to make sure they are tight, inspect the shaft that connects the steering sector to the steering column for free play. If all these are good remove and inspect the steering damper shock if it has one to make sure it is ok, if it doesn't have a steering shock install one. Ford has all the parts available to install one or you can get a kit from Rancho or other suspension parts company. And last off adjust the free play in the steering sector, you will need to set it tighter the factory specs to get the wander out, then have the alignment checked to make sure it is in spec and your truck should drive normally.