Steering lurch??

When I turn the wheels all the way, I feel the car lurch side to side slightly. I feel it mostly through the steering wheel.

It is worse when I turn the wheel all the way to the left and back up. It's like one of the wheels slips and grabs or a loose component shifts back and fourth. It also happens slightly when doing 60mph around corners.

I'm guessing it is one of the following:
1. A loose ball-joint or tie-rod end that has some play.
2. Too much toe in or toe out, making one wheel turn farther than the other. I'm assuming that one of the wheels would slip than grab because it is taking a different path than the other.
3. Rack and pinion giving out at full steering lock.

I hope one of you out there has had a similar problem and knows what the likely problem is.

First, check the PS fluid. But you'll have to get the car in the air to check anything else. I'd take it to an alignment shop for an inspection. If its a control arm or ball joint and if it breaks, your costs will go up dramaticly and it can be dangerous depending on the speed you're going. Good luck