Uh, that sure sounds like a bent housing. It sounds like it may be bent badly enough that adjustable ball joints, which can counteract minor camber angle problems, may not take care of it. Used Dana 30 axles aren't expensive, that is one fix. Though some axle repair shops can straighten a bent axle housing. A buddy of mine had a bent axle in his CJ and an axle shop fixed it in an hour... but the axle was out of the Jeep.