Easiest first check is to get someone in the Jeep with it running, parking brake on and/or rear wheels chocked, engine running (if power steering). Best to be on dirt or gravel, but pavement would work, just watch how much you try and turn the wheel.
You sit/lay on the ground in front of the Jeep.
Have your helper turn the wheel back and forth.
If things are worn out/loose/broken, it becomes pretty clear pretty fast, just watch for things to move relative to one another that shouldn't be.
The above is a good first check and can reveal a lot, but the list of possible steering issues is LONG and they should really all be checked if you haven't done so in your ownership (steering and brakes are two things never to mess with cutting corners IMHO). Lots of people instantly blame the steering box itself or the steering shaft to the wheel, but in my experience those are very rarely ever serious contributors.
Here's a list off the top of my head (there's a lot of threads on this on here already BTW if you search):
tie rod ends wore out
steering box bracket broken/cracked
spring/shackle bushings worn out
ball joints shot
wheel bearings loose/worn out
caster too low/negative