There is a couple of things to check. First grab a hold of the front wheels and try to turn them by hand by jerking on them. Check to see if there is a alot of movement or a clunking sound. Also while standing still and engine off turn the steering wheel abruptly to again see if there is any clunking sound, ( while you are doing this have someone else out side the vehicle looking at the wheel to see whether the tire is moving or not. If there is an audible "clunk" then you need to have your tie rid ends checked and also your pinion arms. If neither of these are the problem than i would recommend and steering stabilizer. Basically it is a shock absorber for your steering they are pretty cheap and very easy to install, and being that you have a jeep you will have a slew of options to choose from.
Sounds like you have the beginning of what is fondly called "death wobble"
This condition can be caused by overall play in the steering components (small amounts of play added together = more play than you would want in steering, and loss of wheel control on bumps at speed (usually over 55mph) The major items to look at first art track bar bushings and mounts, ball joints and believe it or not, proper wheel lug torque. Other items are steering box to chassis mounting and wheel alignment. Caster can be adjusted in a more positive direction (beyond factory) which causes the wheels to "want" to remain straight ahead at speed. This can either be done by moving lower control arms or in difficult situations, ball joints are available with built in offset.
Check ALL bushings and pivot ends for any sign of wear, eliminate the items with the largest amount of play first. DO NOT let anyone talk you into replacing the steering stabilizer (sideways shock on the linkage) as a cure...This will cover up the problem for a short time but will not cure it. After the problem has been solved, you should replace that part, because likely it has been beaten to death while the condition was present.
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