Thanks for the video. I went out and checked it out and none of those parts look bad. I thought maybe it was a u-joint but that doesnt look bad either.

 

Just found this picture that might help

 

Check for the sway bar bushings, They should be solid and not cracked/rotted.

I drive without a sway bar entirely (do not recommend it)
and when I take sharp turns, you could say the wheel feels like it is going to fold under the car

Note: This picture looks like it is from another Jeep, xjs sway bars would be visable in this picture.

EDIT: You cannot tell if a U joint is bad by looking at it.
You tube how to tell if a You joint is bad

 

Thanks for the pic that helps me identify the parts for sure.

 

Does it cause a jerk in the steering wheel also?

 

No if your steering wheel jerks while turning, It is probably A bad U joint.
But no way of knowing forsure unless you check it out yourself.

but also a ball joint with play, or a tie rod end with play could cause this. So dont cheat yourself check evevrything as you should.

 

I'm thinking of replacing the ball joints, u-joints, and sway bar links on both sides just to be sure lol. I did just replace the right side inner and outer tie rods so I know those are fine.

 

Well dont replace stuff unless you need to!

I would say the ball joints and endlinks are a good idea anyways at higher mileage.
Could only be one Ujoint that is bad, but your call if you wanna spend double lol

 

The way I see it is if I replace it now I won't have to worry about it later and even if I buy the parts and they don't need replacing I will have them when I need them.

I drive my kids in this vehicle I def want it to be safe!

 

At least the parts arent that expensive!

 

Ball joints and tie rods dont need to be replaced unless they break! Mine are 175,000 Miles original parts. No issues.
Good mindset though

Not until you start buying things you dont need lol!

 

I guess what I will do then is get a u-joint and 2 sway bar links and change those out and see what happens from there. The bushings on both sway bar links are hella cracked and they should be replaced for sure.