Tie rods or the rack itself could be going out. That's kinda high, you could do it yourself, mark the ends so you know where the old ones where, pop the old ones off, put the new ones on, and drive it directly to an alingment shop...
Could be tie rods, rack, ball joints....pop it up on a jack and start wiggling, don't pay someone else to do that for yah, if you have a repair manual, it will show you how to check all that stuff easy.
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