If its hapening when you turn, then its tie rods or ball joints, or any part of linkage between the steering and the connection points at the tires. You can carefully put your jeep on stands and physically try to put lateral movement on the tires to see if the ball joints are bad. You can also have someone slowly turn the wheels on the ground or in the air to carefully look for slop and play in each part and tie rod connecting everything, etc. not as terrible as it seams. you can find and replace it then pay for an alignment or get a number of opinions fron a few shops to do it and then align it. either way it would probly be good to align the car after you replace tie rods. No alignment needed for ball joints of course.