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Worn or misadjusted steering box, worn out tie rod ends, bad ball joints etc. all can cause mystery steering. You need to put in on a lift an go thru it completely. My truck had a stuck caliper and it pulled to one side and made grinding noises
Tie rod ends and the center link are fairly common problems jack it up and then shake the wheels from side to side, and you should be able to locate the problem
Consider this, Steering is a matter of transplanting the footprint of a vehicle in motion. IOW, aim where one wants a vehicle to go.
In addition, strg wheel should center up on the return.
For all this to happen, caster, camber, & toe in must focus, or come together at a theoretical point established ahead of vehicle. When all is right, vehicle will aim for that point.
Okay, what's happening, from what you describe, is vehicle falls into & off of its' theoretical center. I bet a set of properly inflated, front tires, & a good front end alignment done by a qualified shop or dealership will corect your problem. Fbp
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