I have the same problem and I dont have any lift. I have replaced everything from the steering box to the ground, including the steerning box with no results. steering box, tie rods, tie rod ends, sway bar end links, pitman arm, steering stabilizer, all four ball joints, all four tires, track bar bushings. I have checked the hub assemblies and they are good. Next on the list is the intermediate steering shaft. I will let you know if this works and if you figure it out please let me know.

 

Have you tried different tires? Sometimes the tires make all the difference... it's all about the contact patch in the end.