Does this sound like bad inner tie rods?
To determine if the inner tie rod ends are bad, do the following. Raise the vehicle and put on jack stands for stability and safety. With one person at the tire and the other under the vehicle, place your hand on the tie rod end and have the other person move the tire back and forth. If there is play in the tie rod end, only 1/8 th inch is allowable more than this requires changing. The rack and pinion expansion bellows covers the inner tie rod end and releasing the clamp and exposing the tie rod end will make this inspection easier. Upon removing the expansion bellows,if any fluid is found, this is an indication that the rack and pinion is on its way to failure. If this be the case, replacing the rack and pinion includes both inner tie rod ends with the assembly. Hope this helps.