Sure sounds like something is loose or worn badly. Have someone rock the steering wheel back and forth while you look for slack in tie rod ends,etc. Also jack each front tire up at lower control arm just enough to get a long bar under center of tire and pry up to check for worn ball joints. While tire is jacked up, grab tire at top and bottom and try to rock tire/wheel on spindle. Several places where you can find slack there (bearings, upper ball joint, rotor). Might not hurt to check for cracked weld on strg rack mounts. You need to find the problem and fix asap! You need positive caster in both sides and don't need excessive toe out. Zero toe or toe in needed. Let us know what you find.