Couple things to look at:
Tire inflation pressure
Tire Balance
Front end wear - including ball joints etc.
Steering gear wear or adjustment
Front end alignment
Faulty wheel bearings
You probably cannot fix this. Please take your 1995 Jeep to your mechanic that specializes in front end maintenance and have him or her take a look at it. Get this done soon as I think your car is dangerous to operate at this time to both you and others on the highway. This condition will not improve if you ignore it.
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