07 KR with 252k miles. Has 6in lift and 35's. Lately Ive noticed that whenever I hit a bump the steering shakes bad. I have verified that it is NOT the shaft. The u joints in that are good and tight. When you shake the wheel without it running there is substantial play in it as well as a defined clunk in the rack. Hopefully this video will attach.

 

might be play in the rack, could also be worn out inner tie rods too

 

I would also suspect the tie rod ends.