Steering wheel grabbing

Help me out folks.
2000 XJ, bone stock, approx 93,500 miles.
Lately when driving around a bend or corner the steering wheel shimmys or grabs. The only thing I can compare it to is almost as if the front axle is locked in 4X4. Not quite as grabby but similar. Of course I checked the transfer case shifter and it's not in 4X4. It seems to do this at speeds below 30 MPH or at least it is not noticable at higher speeds.
I replaced the front rotors and pads about 3 weeks ago and it went away for a while but started up again late last week. The rotors I took off were badly warped so I thought that was the issue but I guess not. Before the brake job it was only a slight grab but now it's noticibly worse.
Any reccomendations as to what to look for/at would be greatly appreciated.

Thanks in advance.

Longhunter

Could it be that your Power steering pump is getting ify? If it is not making good presure it could feel like a grab.

I checked the fluid in the reservoir and it was OK but that's all I checked.
How exactly do I determine if the pump is ready take a dump?

What about axle u-joints? Could these cause this and how do I check those?

Longhunter

could be U-joints or even your unit bearings.....

Common symptom of old u-joints in need of replacement. Power steering pump is good for another 100,000 miles and only replace it if it stops working or looses fluid faster than you can re-fill it. .

Thanks gentlemen.
Now she's got a decent vibration at highway speed so I'll be tearing into the front end tonight. I'm pretty sure it's the u-joints after doing a few searches and the replies I received here.
Many thanks for the help!!!!

Longhunter

or the pump moans really bad and makes metal grinding noises

The same problem with me just started up yesterday. Was it the U-joints? I didn't get a chance to check the power stearing fluid or to see if it was leaking at all, and it's deffinitly not stuck is 4wd.