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Either your lower control arm bushings, steering rack bushings, or tie rods are bad. Just my 0.02.
Get the front wheels off the ground and start muscling the wheel/tire at 12 and 6 oclock positions back and forth. Then try it again at 3 and 9 oclock. Best to have a buddy with a flashlight looking at the suspension assembly while youre wiggling to see exactly what it is.
When I changed the rack bushings on my 1999 LS a few years ago, the old ones didn't look bad at all, but what a difference in steering after I installed new ones! A lot less play in steering going over bumps and rough road.
The two bushings are different ( right and left) and about $15 a piece OEM.
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