Glad you found the causes. Too bad its multiples.Finally got it to a decent shop and spent a lot of time looking at it.
Bad ball joint (front drivers side)
Power steering leak
Bad ujoint on driveshaft
Could use a tuneup (new plugs, belt)
One wheel was grossly out of balance
One tire cupped to **** because of ball joint
Rear diff may be going out for the second time
Exhaust leak
80k miles, they don't make em like they used to I guess
Glad you found the causes. Too bad its multiples.
Allow me to offer a couple of suggestions.
Replace all the ball joints. They have all seen the same road conditions.
Replace all the U-joints. Same reason as the ball joints.
Do the work right, one time.....or plan on doing it again