I'll bet those drips on the cross member are from the pan leaking.
Couple little things I saw if you don't mind...don't know if you noticed yet or not. Looks like you are missing a nut on the cross member that is part of the trans mount, helps keep it from twisting I think. E-brake cable cut(?) and you're are going to want to do those brake lines the right way before you break one.
Some of the steering is going to be from the long front shackles (caster change) and the ride height most likely. Do you have a drop pitman arm? You can adjust these boxes just fine, make sure you got all your ducks in a row before you go throwing money into a new steering box and are having the same problem.
see if you have the front sway bars,
make sure bolts are all snugged up,
check your TRE and ball joints... all the good stuff you don't know if has been messed with.
Looks like you will have some previous owner handywork to overcome, but we all do and you have a good start.
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86 CJ7 258/Np435/D300/Waggy D44's