An update. I had the alignment checked. All was relatively good except for slightly out of camber tolerance on both front wheels (cams were frozen so penetrating oli was applied and I'm waiting to see if that works), AND, the thrust angle was -0.30, which is out of spec (-0.25 to +0.25 I think). They said this can't be adjusted and is likely due to bad roads or accident. Well, we certainly have bad roads, and the Jeep has hit a few curbs and piles of snow over the years. But nothing major unless it was before I bought it (CARFAX was clean).
I'm guessing the control arms on the rear axles are not adjustable without modification?