The easiest way to start is with the Jeep on the ground and the engine off, have a helper move the steering wheel back and forth a few inches each way. Not to fast. While they are doing that, start at the base of the steering column and look at the shaft. Check the shaft joints and see if there is any lost motion, play, looseness, whatever you call it. All parts must change directions without lost motion. When you get to the steering box make sure it itself is not moving. These often loosen up, and/or the mounting plates crack. The box should not move.
Then compare the movement of the steering box input shaft to the steering box output shaft on the bottom. As the input shaft is changing directions the output shaft should also change directions with very little lost motion. By now you have probably found your problem but if not, while the steering wheel is still being moved, follow the linkage from the steering box lower arm. Inspect each end joint (tie rod) for play. You can see the play in the joints if it is bad enough. Then check the joint at the wheel end of that rod. And also the joints at the wheels of the tie rod for play. By now you most definitely should have found your problem, but if not.
Jack up each front wheel, both or one at a time, until the tire is about 2 or 3 inches off the ground. Insert a pry bar or something similar under the tire about as deep as the tire is wide. Then, by lifting up and down on the bar you will notice if there is any play in the ball joints. You will notice the wheel assembly clunk or chuck in and out if it is bad.
Let us know what you find.