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Could it be that there is too much play in the steering box? that would certainly cause what you describe. Badly worn radius arm bushes can have the same effect. If you can, get the car supported on stands, with no weight on the axle, get someone to move the steering while you check underneath. Some faults are a lot easier to spot with the axle hanging from the suspension. While it's lifted, give the wheel bearings a good dose of looking at. Pete.
Tracking?From my experience, the tracking on disco's is vital, mine dived all over the road when i first bought it, and whenever it hit a puddle it tried to change lanes....