He says that because hes probably used to hearing this from the CJ/YJ guys. With leaf spring fronts you can throw on a drop pitman arm with no problem, actually with most lifts around 4 inches on a YJ you need a DPA. If there is a trackbar involved then you should try to keep them parallel.
I'm still not getting this, when you hit a bump does the wheel shake back and forth a few times or is it just a jerk in the steering wheel when you hit something? I'd reccomend currie steering if you want bolt in and stronger, if the boot is worn I'd take a close look at that joint while someone rocks that wheel back and forth. Regardless if you grease it a lot or not once its open then the joint is free to get contaminated, grease globbing out the hole will also attract dirt and debris.
We can only keep guessing at what your problem is, you really just got to have someone keep rocking that wheel back and forth and find where the slop is. Just cus the jeep is lifted with stock steering doesn't mean it has to drive like crap, there is a worn out part somewhere in your front end.