Without looking at it, it would be hard to say for certain. Given your description, however, I'd say it's the tie rod ends. Keep in mind that this has a direct impact on the ball joints, so the ball joints are probably ready to be replaced also. I'd suggest you have it taken care of now before you damage the sway bar too.
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If you give me year,make,model and how many miles are on the vehicle I can tell you exactly what the problem is...However in all cases once one component wears out all surrounding components start to wear out as well because it will add more stress on everything because all suspension components are connected because they need each other to work properly......Please let me know...I would love to assist you......"..Brooks/Metalpoet...."
Also as Bob mentioned the sway bar...The sway bar has sway bar rubber bushings and links..this could be a problem as well..however the bushings will wear out before the bar is damaged..Unless of course all this has already happened...Remember..I need year/make/model and mileage...Good luck..Brooks.....
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