Wheel bearings are relatively simple to change.From what you're describing,it sounds like it could be balljoints.You should buy a Chiltons Manual(Walmart sells them in Automotive Section)for 1976-1986FORD PICK-UPS AND BRONCO.Very informtive and detailed.Don't bother with Haynes manuals.Front hub 4x4 selector comes off,remove inner snap ring and the outer snap ring.You'll need a specialty 4 prong socket to remove the bearing retaining nut.AUTOZONE orADVANCE AUTO sells them.They're cheap.The front bearing can be accessed from the front.Remove the brake caliper and the rotor to access the rear bearing.you'll need new seals for the rear of the rotor.I would also check front steering linkage and suspension.It is pretty simple to replace frontend components yourself.Alot cheaper than a shop.You could do the whole front end for a few hundred dollars.The Death wobble is a sign that shouldn't be ignored.Good luck and get the CHILTONS BOOK it will help you save a ton of cash.