OK try this.
Jack up the front end and place jackstands so the front wheels are off the ground.
Look for OBVIOUS loose bolts in the suspension.
Grab the passenger tire at the top and bottom, try to push in and pull out.
Does it move? Did anything in the suspension move?
Now do the sme thing holding the tire at 3 and 9 o'clock positions.
What moved in the suspension?
Repeat on the driver side.

There is something worn or broken in the suspension.

Don't want to do it yourself? Bend over and be prepared to spend a ton of money because the shop will probably want to change a lot of pieces.
I've got worn ball joints and tie rod ends (235K miles tends to do that)
I'll order all the parts on line and do the work myself. So far it looks like parts for my 2wd truck will be just under $1000 and I'll get it done in a couple of weeks (have other vehicles to drive)