Sounds just like what I suffered from .Theres a tension rod on both sides , you can see them easily , At the rear of the tension rod is a Bushing with a large bolt going through, Its about the size of a tennis Ball !!Mines was obviously dryrotted out on the drivers side .And yes , you should get an alignment after you replace it .Go to
http://www.fuzzycats.com and click on the J30 link , then the DIY link , he has the procedure name "Tie Rod" replacement ,, lolHe means tension rod , I emailed him about that but he never changed it .