They identified three issues: excessive play in steering box, incorrect caster, and a worn control arm bushing.
While I don't doubt that the Cherokee's control arm bushings need replacing, that's a full day's work to correct plus an alignment afterwards. But tightening the steering box is maybe half an hour's job, and I never did try that, so I think I know one of the jobs I'm doing in the garage today.
And I know I've got lots of play in the steering box.
Further bulletins as events warrant.