Bushings do help, radius arms and panhard bushings in particular. Another often overlooked problem area is the mount for the panhard rod. Over time, the hole can get out of round and cause a minute amount of free play. This little bit of free play can relate to some pretty serious scarey steering.
One thing you can do to sort this out is to replace the panhard rod mounting bolt with one slightly larger. You'll need to go down to your favorite local fastener store. If I remember correctly, a 9/16" grade 8 bolt will do the trick. I can't remember the length off hand, but just crawl under and take a little measurement before you head to the store.
Replace with this larger bolt, gently tapping in until it seats and see if that helps. It's quick, easy and cheap and it will at least rule out one more thing.
Good luck!
1966 IIa - ex-MOD, ex-FFR, ex-24v
1997 Discovery SE7 - I'm empty inside without her