I'm suprised that no one has posted to your post.
I have a 84, CJ7 with 33 and a 3" lift, manual steering. I have over 220K on the jeep and have replaced my steering gear box twice. If you have a manual steering on your jeep you may need a new gear box.
It is simple to check, have someone move the steering wheel side to side while you look at the pitman arm. If you see any side to side movement of the shaft at the bottom of the gearbox you need to replace it.
Dont mess with the rear end shims. I had to add a 3 degree shim to mine to keep the U joints from failing every 5k miles. The lift and the 33's will make your ride a little squirelly.
Also check you tire wear. I run about 25lbs of pressure in my 33's. I drive over some dirt and then check the coverage of the dirt on the tread. If I dont see all the thread on the tires covered I adjust pressure untill my tires are running flat on the road.
Of course other things may need to be looked at. tie rod ends, ball joints, sway bar etc, may also cause white knuckle driving.
Since you didnt tell us what is really going on I can only give you my experience with my 84.
Hope this helps.