going through same issue right now. Trying to determine if mine are bad or not. I have read in many places that cupping on the tire is a common culprit (among others) from bad ball joints. Looks relatively easy to replace. Just need to rent a ball joint press from your local auto store (can be up to $140, refundable though) to do so.
Jeep Wrangler Ball Joint Replacement - Jeepz.com
Not sure if I can place that link in here, but it was a huge help to me to decide that I could definitely do this on my own.
Also helps you with figuring out how to determine if the joints are bad. You are looking at ~$130 for the upper and lower ball joints. The rest, you should have all the other tools, minus the press.