To figure this out jack up the front end put it on jack stands. Grab each tire one hand at the top(12 o'clock) the other hand at the bottom (6 o'clock) to check ball joints for tie rod ends have a helper rotate the steering wheel while you look for play in the joints. Aside from that it is pretty much just get dirty under the Jeep putting your hands on stuff and if all else fails you can have some one drive past you and turn turn the jeep while you watch and listen might be able to see or hear something not being in the vehicle.
Good luck hope that helps.
97 TJ 4" RC 33" baja claws
98 XJ 4 1/2 RE on 32" bfg ats
04 WJ limited 4.7 v8 wifey's DD