I know a lot of people who have jeeps and operate them off road. Usual problems include loose steering from worn or damaged suspension and/or steering components and a bumpy ride due to blown bushings, shocks, or suspension components as well. Yours may not have endured the same abuse but I'd suggest first checking your tire pressure, tread for even wear on all tires and then I'd have an alignment done (if you have damaged components they will tell you before they can align your vehicle) and that will give you an idea of what is wrong with it
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