asuming that all of your suspension parts are in good repair(ie trackbar), I only know of three posible reasons for your problem:
1)Air in the brake lines, causing the left side brake(s) to rub continuously
2)Worn out or broken brake parts on the left side
3)Worn out Steering box or pump.
To eliminate all posibilities, check, replace where necessary, and bleed ALL brake parts(good idea to do this anyway). If that doesn't cure the problem, get the jeep warmed up, drive it around and once back home jack up the front axle so that both tires are off the ground, if the steering wheel cycles to the left without help, then the steering box is going bad.
(I had this happen on a dodge motorhome I had, as soon as it was started and warm the steering wheel would slowly cycle left, I replaced the box and that fixed the problem)