If all steering and suspension components are tight, then go have an alignment done, that will cure it,thing move slightly over years, needs to be adjusted. as the leaking axle seal go, not an easy back yard job, the left seal is next to the differential,( yes the ring gear, carrier assy needs to be removed), special tool to reach through the axle tube ( can make one with washers and LONG threaded rod,nuts) the right one is next to the axle actuator mid tube. again special tool.