Check the steering rack bushing directly below the oil filter.Over the years oil builds up on this bushing and it gets bloated until it finally gives out.Once it gives out , your steering rack can move about an inch or so , causing the symptoms you're describing.When i bought my 96 and i went over everything , mine was bloated but still holding together and i got a new one from the dealer for $20.And definitely take care of the CV boot ASAP also.