Getting bad road feedback in steering wheel. High speed cornering and road bumps are especially irritating. 100K on used 2000 SE 4WD and stock tires that I bought this year. Feels like front wheels are loose. Where do I start to trouble shoot?

Start by checking the tie rod ends for wear....and follow back to the rest of the linkages.

An alignment is also a good idea...bumpsteer and handling looseness can go hand in hand, as wear on one component stresses others, etc.