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I think you'll have to jack the front up and turn the wheels while they're off the ground to figure out what's going on.
Check everything from the steering column bearings inside the car on down. The U joints in the smuggler box, the steering rack which seems most likely, and the shocks inside the front struts. The strut shock inserts have to rotate internally when you turn the wheels.
I've replaced the ball joints and tie rods along with everything else in the front end of my car and when they become worn the ball joints and tie rods are actually looser than new ones so I doubt they would be causing this.
The rubber boots on them usually dry rot and crack letting in water and dirt after 15 to 20 years depending on climate.
The ball joints are fun to replace... you need a special socket and torque wrench for the nut on the bottom to tighten the new ones correctly.
If doing the job while the car is on the ground and the front end is up on jack stands a floor jack works good to hold the socket up and on the nut while you torque it so it doesn't slip and round off the cogs on the socket. The socket goes for around $35.
A hammer and chisel works good to remove the old nut. A pipe wrench with sharp teeth in the jaws can work too. The socket could remove the old nut if it isn't corroded on but if it slips while pulling on it you could round off the cogs and damage the socket.
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