what are the specs of your Jeep? stock, lifted, etc.
9x out of 10, you need an alignment and rotate and balance. If you let it go too long, the tires will get out of round and there will be no fix. It will also wear out the ball joints and tie-rod ends.
Do not let anyone fool you that a new steering stabilizer/dampener will fix the problem. It is in no way the problem or the solution.
I recommend an alignment shop that offers a lifetime package (I use Firestone). An alignment is something that should be done every several thousand miles. A lifetime alignment deal will let you take it in anytime you want.
I also recommend a tire shop that offers the same lifetime package, but for rotate and balance. Discount Tire is the only tire shop for me.