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The steering joints and connections are worn and need replacing

Actually, the most likely problem is the tires. They may just need balancing. Sometimes the belts in the tires separate which causes a wobble. high/low spots in tires also causes a wobble. A bent rim can cause a wobble. Excessive negative caster will cause a wobble (alignment issue). Steering joints (inner and outer tie rods will not cause a wobble)

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