I had a similar 'balance' problem for a little while, speed dependent, but after a while, I started getting the jerky steering wheel while parking. Turns out the axle u-joints were starting to bind. After I replaced them, it was like a free wheel balance.
Unrelated to the u-joints, about a year later, the vehicle started to have wheel balance problems again. I had them balanced at three different well respected shops, all with the same results. Turns out three of the matched set were out of round, one pretty badly. All of the shops said they watched them while they were on the machine, and nothing seemed out of the ordinary. They had about 30k miles on then, were wearing great, and looked almost new. I took off a rear wheel, and one by one installed the tires and let them spin at idle (don't try this with LSD!), and it was readily apparent what the problem was. I replaced them, and the Jeep has never been smoother! I had a highly regarded front-end shop tell me that those particular tires will never go out of round, which is why I was going nuts looking at everything else.
I guess what I'm trying to say is to keep looking. Any little problem, especially on a solid axle front-end, can manifest itself as a number of other problems. Lately, when we acquire another XJ, the first thing that happens is that almost all of the front end gets replaced, and we start from there.