1999 Honda CRV steering wheel suddenly started jerking in e

Hi. Here's supporting info to help diagnose issue:

my 1999 crv was fine this morning, then in evening the steering wheel would jerk or tick slightly at regular intervals while driving. I stopped and looked at tires, which were fine. Just put air in them yesterday. Hasn't done this before and doesn't seem like an alignment issue because it's not a constant pull.

is this somehow related to the groaning differential issue (just learned about online tonight, after 3 mechanics in 3 years couldn't fix it) that happens with sharp turns of the wheel? I read that major repairs are needed if that goes unaddressed for long time, and due to the suddenness of the wheel jerking, wondered if something finally went bad?

(PA inspection is current and i'd planned to take it for 60K reg service very soon -- now sooner!)

thanks for any suggestions