Have the steering and suspension systems inspected at a tire and alignment shop. They will look at the ball joints, tie rod ends, and struts among other things. You can also check the upper strut mounts yourself for binding. Reach over the tire and wrap your fingertips around an upper part of the coil spring, then have a helper slowly turn the steering wheel back and forth. That spring should rotate smoothly with the wheel. If you feel the tension build as the spring winds up, then it suddenly snaps free, that mount is binding or sticking. That by itself is not a serious safety issue, but you don't want to ignore it until it gets real tight.