Sounds like it needs a new steering stabilzer. It is like a shock absorber for the steering linkage.
If you need further help, I’m available over the phone at https://www.6ya.com/expert/michael_2496c4f07ad24453
People always go for the steering dampner first but this only hides the problem! i would check the bushes on the panhard before you do anything else, both my TJ and my XJ had this problem it is common with Jeep as well as the infamous rear main seal leak on the transfer case.
Definately check the panhard first.
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