Don't panic. But you GOT to get it fixed ASAP. I would not drive it at all. Some have oblonged the bolt holes on some of the front end components by doing so.
Trouble is that most of the time, there is no 1 thing that you can point to & say "see that ?, there's your problem right there." It is a bunch of cheap a** factory parts. The list can be long of "could be's". Simple things first, or you can do what i did. I did not like it, but it is done. Hard to explain to the wife why were have to dump money into a brand new truck that was still under Warranty & still making $600 a month payments on & only had 18,500 miles on at that time.
So, here is your dilemma: replace with cheap *** factory parts & have this problem over & over & over, or bite the bullet and replace with high quality parts ? I love my PW & plan to keep it as long as possible, so I bit the bullet .
Could be's:
Tires &/or tire pressure
alignment
track bar/bushings
shocks
Tie rod ends
upper & lower ball joints
unit bearings
control arms &/or bushings
steering box, steering shaft, steering stabilizer
front axle u-joint
If it needs anything in the front end, now is the time to do it, as you dont want to pay for or do the labor 2 or 3 times.
NOTE: My truck (even though it is 2008 model year), was made in Nov of 2007. It had the "old style" y steering set up. I still have the y style. No issues but all 4 tie rod ends were replaced with MOOG HD greaseable ones.
What i replaced was:
MOOG HD tie rods/ends
Spicer/Dana triple lip seal front axle u-joints
Carli X-treme upper & lower ball joints
Carli Cro Mo offset control arms
Carli track bar
PSC steering shaft
Steering gearbox brace
good alignment after all this was done