shaking steering wheels when going over bumps

I got a 1996 Jeep Grand Cherokee that had the same problem. It turn out to be a stablizer bar. The bushings were still good. The repair came to $150.00 with tire rotation. HarryII

It may be tie rod ends.

You need to have the steering components inspected to determine exactly which parts are worn out and causing this, You can find a https://repairpal.com/repair-shops near you here and once they determine what part needs replacement you can check prices here https://repairpal.com/estimator