Bad pinion angle is likely the culprit. Sounds like it's time for adjustable control arms.
1997 ZJ TSi - my DD, 5.2L, 242, ~4" of IRO lift, IRO short arms & adj. TBs, JKS Discos & BPEs, DT3000s, Aussie out back, sliders, OEM skids/hooks/hitch, 31" Duratracs, 15x8 Stealth Crawlers, Niner grille, e-fan, Magnaflow stuff, HO alt, "mean eyes", tinted signals, clear corners, sound system, cloth seats
1994 Caprice - "SQL Lab", HO charging system, SS suspension, show car in progress, some tasteful
2010 Terrain - wife's DD, bone stock
2010 Gary Fisher Utopia - Black Ops platform pedals, SRAM X.9 shifters, BB7 calipers/G3 CS discs, NightRider Rebel 3.0 computer
Black Jeep Society