When driving my 2001 S-Type, the car will lurch suddenly to the left or right without any aid. Feels like it going to "crab-walk". Has no previous structural damage to the frame. Have to constantly correct to avoid contact with others and do not want that option to fail one day.

 

Suspension (inner or outer tie rods or both) or power steering rack issue.

 

Put it on a lift. It seems like the lower control arms bushing are gone. Are these a replacable item or the whole arm has to be changed.

 

Take a look at this TSB on the lower balljoint.

Link http://jagrepair.com/images/TSB/TSB2...l%20Joints.pdf

 

Did you find the problem?

 

Tie Rod ends. Check those first. Jack up and wiggle wheel. If the joint is gone, you'll know. I just replaced mine and the pulling was bad until I got to the alignment shop.

 

I suspect the front lower control arm front bushing is damaged. This happened to me with the same symptom - car follows the ruts/crowns on the road.

The front bushings are replaceable by themselves. It's easily pressed out when the control arm is out of car. Be sure to keep the bushing orientation consistent as they are directional front to back.