OK I will read it. It does seem the shimmy is always there but gets really noticable above 65mph and doesn't go away.
I run 35x12.5 General Grabber AT2 tires that are D rated at 38psi as I use to tow with the Jeep. Now that I think about it that seems high psi as I don't tow any more. I have no idea on caster and tow.
The Jeep in general seems to ride rough,should I upgrade shocks?

 

To check the tie rod and drag link ends, grab them by hand and see if you can move them vertically in the joint.

No vertical movement by hand = not worn.

Using tools, such as pliers or a pry bar, will overcome the spring in the joint and give a false indication of being worn.

 

I'm also having the same problem. I have a 2.5 lift with 35s and have s ton of play in the steering. Took it to the dealer and they said they could tighten the track bar bolts or put a bigger steering stabilizer on... I told them no and went and picked it back up. Track bar bolts were torqued properly and with the help of a friend turning the steering wheel and me underneath looking at things it took me all of 30 seconds to see all the play in the drag link and when I put my hand on it I could feel a clunk. It really pissed me off because there's no way a mechanic even looked at it. So I made an appointment with a different dealership to have them check it out and fixed under warranty... Hopefully.... That was on a different forum but sane problem. Make sure tires are balanced and then look at those videos mentioned above to help. My drag link clunks and has vertical play. Also don't let the stealerships tell you that you need a bigger stabilizer....

 

I'd try adjusting your psi first and see if that helps.

 

do your rims need hubcentric rings?

 

You nailed it. After I realized I was actually running 40psi I lowered it to 30 and it's a huge difference. Much smoother ride for sure. I just ran 85mph on the highway with no issues.

Thanks for the awesome help. I totally forgot I had aired them up so much when I was towing.

 

agreed your tire psi is to high I run at 29 psi and that's good for me but I would try a tire chalk test first!
Sorry I wrote this post before I read you lowered your psi already to 30.