Jack it up under the a-arms and set it on jackstands. Get someone to wiggle the front wheels and look around for sloppy parts.

Tierods and centerlink are the most likely culprits, but any movement at all in the balljoints should also be addressed.

Check your air pressures too. Have you ever gotten an alignment? An alignment shop will typically do the inspection I mentioned as part of the job, and if they're worth a salt, they'll give you feedback on parts that are worn.