Most likely the steering bushings or tie rod bushings. I had the same problem on my daughters intrepid. Steering got really sloppy.
Replaced both the steering rack bushings along with the tie rod bushings and it made a big difference.
Steering is still a little sloppy because I have not gotten around to replacing the lower control rod bushings.
The Steering rack bushings were about $15.00 and the tie rod bushings were about $30 from the auto parts store.
The tie rod bushings were fairly easy to replace, but you need a wedge tool to knock it loose. I borrowed one from the auto parts store.
Note, you will need to get an alignment done once you are finished.
The steering rack bushings were not too hard to replace, but it was more labor intensive. You end up laying on top of the motor to get to them. You also have to remove some of the back engine components to get clearence to get in there and work.
I followed the directions here...