I agree. Check all the ball joints first....Then adjust the lash in the box, Be carefully not to get it to tight.
If all this doesn't correct the problem then your steeringgeometryy is out -commonn problem with liftedvehicless of any kind).
What type of lift was installed on your Samurai?

Can you post pics of the lift installed

A front end shot would be helpfull...
I have a spare box in the shop . If you truly need it . I will be less than happy to let go of it (as it is my only spare) But if you need it , I have one....Boxcar...