At 116K, I can guarantee your swaybar endlinks are shot if they have never been replaced, but that should only be making strange noises, not the symptoms you describe. You may have worn tie rods and/or ball joints--easy to check on the lift (check Haynes manual)and Groton carries both. The swaybars only need attention if broken (rare on front, happens now and then on rear). The IPD upgrade (which I did) gives you less roll on turns. Your struts and shocks are probably entering senility at this point also.

I had to replace a ball joint at about 70K. Last year at about 115K I replaced struts, shocks (and mounts), swaybars and endlinks (with IPD heavy duty endlinks last year). Like a new car, handling is fabulous!
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96 850T, Bilstein HD, IPD swaybars