"help With Wonky Steering "

Hi all .........heres hoping you can give me some advice.
My wifes car ( 2002 GLS - 28 k . 3.4 ) has just recently developed an odd steering problem.
The problem is noticable on long sweeping curves ( noticably worse when extra people are in the car) .

I can feel the steering wheel " jerk " to the opposite direction of the curve . It feels as is if the wheels are " loose and sliding slightly " and moving independently of the steering wheel. Like the wheels are trying to go straight ( again - slight pulling but very noticeable)Not noticable at all on Straight roads.

Tough to describe - hopfully you can get the jist of the problem

Tires are good - no uneven wear or bent rims. Not a tires a balancing issue ( as much as I know ).

Any suggestions for me ?? I need to get the car in to get the problem fixed b4 the warranty expires in the next 3 months.

Ball Joints ?? Tie rods ?

Any advice you have so I can stay on top of the dealer would be much appreciatted.

Thanks !

Doggie