Most likely you have at least one bad U-joint in the front axles. A turn to the stops, put the joint in it's most severe twist.
If it's starting to bind, you will feel it as the axle turns, relaying the bind into the wheels/steering.
97 Sahara, 74 Renegade, 72 CJ5, 55 Willy's (the Beast) Boss 302, 6:34 gearing, Bose 901 speakers.
God I miss that Jeep. Forgot the kinda Jeep, 80 SX4.