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Sounds a lot like what i went though. I chased the wandering steering for years. I even did a full WJ swap, over the knuckle, custom track bar etc. Had it aligned with 5 degrees of caster and 1/16th toe in.
It still wondered all over the road and was generally tiring to drive.
It ended up...
Just finished WJ brakes on my 98xj. Also my first time getting into brake mods. I have the opposite problem: can lock up 33s no problem, but the pedal is soft. Doesn't quite make it to the floor but its close.
I will be following this thread and hope to learn a thing or two.
Bootswerk shift kit for manual trans, NP231, '98 works great for me. going on 4 years now. Some minor adjustment to get it right was required, but that was easy with the threaded linkage.