I am not 100% sure what the question is, but here is a shot at it. If you are trying to replace the u-joint, there is a video at myjeepwrangler.com under Fix-it > u-joint
You must mean 86 Bronco II? There is no 96 model.
True
4-wheel drive?
4 on the front steering linkage, check u joints they might have them. not many on the bronco. I do mine with a single tube of Lube.
dowels
It could be the U joints from the transfer case causing the problem.
smooth dowels
A Constant Velocity Joints or CV joints are attached to each end of a drive shaft The CV joints are needed to transfer the torque at a constant speed to steered wheels as well as to accommodate up and down motions of the suspension
Rotary joints (also known as Rotary unions) are used in automobiles or assembly lines. These devices allow for the transfer of liquids to other moving parts. Brakes found in automobiles use Rotary joints to help transfer pressurized brake fluid constantly.
sounds like out of center u joints
Synovial - the articulating bone ends are covered with articular cartilage, and enclosed within an articular capsule that is typically reinforced by ligaments externally. Internally the fibrous capsule is lined with a smooth synovial membrane that secretes synovial fluid.
Could be bad joints in the steering shaft, could also be bad tie-rod ends.