My car used to do that off and on and I finally took it in and it turned out to be some sort of steering system gasket that was worn out I believe, and when I got it back it was driving like it was brand new. Hope this helps at all.
I didn't feel anything in the steering at all, I thought it had something to do with the suspension. I remember when I would have my dad with me in it and it would be fine and then it would start up again like you said when you took those technicians for a ride. It wobbled off and on every time I drove it and sometimes made a strange clanking or grinding sound.
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