Sounds like something really worn or tie rods out of adjustment. If you jack the car up and place jack stands on both sides of the vehicle you can then be able to check the tie rods and all most of the ball joints, etc. If you are able to freely move, for instance, a tie roe either outer or enter, then I would replace them. Of course you would then need to have a wheel alignment. I am assuming that your tires are in good shapt.
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