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When you say this is a "new" problem, then the assumption is that the X was not suffering from this problem before now. That means something underneath your X has worn considerably, and is now giving signals that it's about to fail. Jack up the front end and check your ball joints and tie-rod ends. Don't ignore inspecting your leaf spring bushings either. In fact, while you're under there, inspect every mechanical connection associated with your suspension and steering.
I just cured a steering problem with my 02 Excursion 7.3 PSD. It has 80,000 miles on it and I just had to have the drivers side upper and lower ball joints replaced and the drivers side wheel bearing replaced. Before the repair, I had to keep both hands on the wheel and constantly steer and correct and correct and steer and so on,....after the repairs, it drives like a dream. I love it.