Take a good sharp well-lit (use a flash) photo of the driver's side track bar mount from the driver's side and post it here for us to see. I really doubt that mount has been dropped 2", I'm thinking it's more likely stock with only a 2" suspension lift. I seriously doubt anyone would have dropped that mount 2" with a 2" suspension lift. With it likely being stock, you definitely do not want a dropped Pitman arm.
Also, a 2" suspension lift is not enough for 33" tires... the tires will rub when offroad and they likely rub now just going over bumps/dips in the road. The usual recommendation for extra clearance for a TJ running 33" tires is 4" which is typically done with a 3" suspension lift plus a 1" body lift. I'd at least add a 1" to 1.25" body lift but nothing taller than that.
Finally, the usual causes of wandering steering is a bad front-end alignment. Most likely improper toe-in, possibly overinflated tires. Exactly what air pressure is in your 33" tires? If they're over 28 psi, as they most likely are, that will contribute to unstable steering. For 33's, 26 psi is appropriate when the Jeep is lightly loaded, 28 psi is appropriate when it is fully loaded with people and/or gear. Most tire shops cluelessly overinflate tires. Know too that the tire pressure molded onto an automotive tire's sidewall is only its maximum safe air pressure to only be used if the tire was forced to carry its max safe weight which is never the case. It is NEVER the correct pressure to inflate them to.
