Possibly. I would check the condition of the steering. The tie rod ends, drag links, etc etc. If they are original with that kind of mileage they are almost guaranteed to be needing replacement. The upper and lower bushings front and rear if original will probably be in the same condition.

If the yokes were bad (You mean in the boots? As in dried up and popping?) yes I suppose they could cause it. I think its a combination of things that are just worn and need to be serviced and/or replaced.

I bought a 92 Astro Van a few years ago that had 160k on the clock and the whole front end needed to be redone. All bushings, steering, tie rods etc. The soft lines for the brakes were dry rotting and causing the calipers to stick, eating up the brake pads. Rotors were shot as well. The previous owner did nothing but add gas and change the engine oil. And I had my doubts if he even did that on a regular basis.

Sounds like yours needs some parts replaced as well to make it safe to drive.

Hurst