In my experience, the two main culprits when it comes to DW are tire balance and track bars. If this were my jeep, here is what I would do.
1. Have the tires dynamically rebalanced by someone who knows what they are doing and willing to take the time to get it as close to perfect as possible. "Good" is not good enough. In another DW thread, someone posted that they wheel with a group of the JK engineers from FCA and he said they are extremely fussy about tire balance. And for good reason. DW starts when the tire impacts an anomaly in the road. This induces an oscillation in the suspension system. A properly balanced tire will not oscillate as much as one out of balance. I have cured DW just by re-balancing tires.
2. Purchase and install a synergy frame side track bar brace. By now the frame side bolt hole has been worn somewhat. The factory bracket is so thin its a joke. If you wheel at all, you need this.
SYNERGY MANUFACTURING*::*Jeep JK*::*Synergy Jeep JK Front Track Bar Brace
3. Inspect the axle side track bar bracket hole. If there is any deformation, it needs to be repaired by welding washers on either side or replacing the bracket altogether.
4. Get a new track bar. You don't need an aftermarket one (that will require adjusting) you just need a new OEM one. You can find nearly new ones for sale on this forum and other JK forums. Most 4x4 shops have nearly new take offs in their scrap metal bins. But get one with less than a 1,000 miles on it. The bushings wear out. You will see how sloppy the joints are when you take your old one out and replace it with a "new" one. You will know right away that was at least partially the cause of your DW.
Do those 4 things. Most likely shouldn't cost more than $200 to complete and your DW will most likely be solved. If its not, start looking at tie rod ends, ball joints and the like.