As i was goin over speed bumps in a parkin lot today at a slow speed (like 5mph) the wheel would jerk one one goin over each one, even hitting the bumps straight on its drives pretty decent everywhere else with minimal bumpsteer if at all at town and highway speeds.

 

If you were not holding onto the wheel, this is natural because you have a solid axle and not wishbone suspension.

As long as your JK is driving fine on the road and when turning then I would not worry about anything else like trackbar or bent control arm.