Jeep TJ wheel alignment with 6 lift and 35s

Here are some pic

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Sounds like you've probably got some maintenance to do. Crawl under there and have somebody bounce the Jeep around, rock it, turn the wheel back and forth, and look for loose stuff.

Assuming everything is in good shape, ie no play or loose components, your problem(s) is probably poor geometry and shocks.
 
If there is nothing worn out or broken try adding more castor. I have about 8.3 degrees of castor on mine. It drove terrible at 4.5 degrees. Do you have selectable hubs? To get the 8 degree castor you piñon angle will likely cause a lot of vibration. I had to have those added, by @mrblanine so I could get the steering to where the rig is one of my favorite cars to drive.