I had the same problem, but I got it fixed. You can't just lubricate them, you need to change them and they can either be the tie rod ends or the ball joints or even both. I would rather change both just to be sure. Price around it just for one part is 60 dollars in an autozone I don't remember the price for the ball joints but I think the total was less than 100 dollars, of course I dit it my self, I don't really know how much is it at a shop, but I'll say around 120 o for labor or even more, it only takes like an 1 hour for one side, thats taking apart and installing new parts.