That sounds way too dangerous to attempt to drive UNTIL you do get it solved. I have no insight to impart, but there's no way I'd drive a rig that acts like that.
i assume you are towing the Jeep 4 down. I trust you've made sure the steering wheel isn't locking up, and that the transfer case is in neutral with the tranny in park. Might be worth a trip around the block (but not one inch farther!) with somebody riding in the Jeep while towing just to see what is going on from that end.
Hope you get this one figured out before you actually have to try to drive it anywhere.