Thanks everyone for the suggestions.
I guess I am going to get it jacked up, and start to root around. The straight line stability is really awful, so I would imagine something (bushing, tie rod ends etc...) is terribly shot, and hopefully would be easy to identify. I would like to try to get the right part to replace and not have to keep replacing until I hit the right one. I failed to mention in my original post that the car has 186k on it, so there might be a number of bushing that may be shot.
I did the whole timing belt service (not bad if you take your time), and other than the crummy steering, the car has been wonderful, since I picked it up from the original owner back in 2003.
VB quick question ? are you saying you replaced the struts, as I am not familiar with the LS having torsion bars, or does Lexus have another name for it? I checked on the Sewell sight parts breakdown list and didn't see any torsion bars listed? Would you have a part number I can reference?
Thanks,
Bob