I just fixed all this on my rig.
First inside the steering column there are (4) 1/4" screws that have vibrated loose.
You will need to tear down the entire column to get to these screws. Yer gonna need a couple special tools.
2nd, on the end of the steering column where it connects to the XJ shaft there is a bearing and coupler that probably slid down with all the vibrations.
I took a piece of 1.5" tube & a hammer and gently persuaded it back into position.
I did a thread on the steering column. I'll try to find it & link it.
I can help you fix yours if need be but I know you have the skills to do it yourself.
Some folks would say just go to the junkyard and buy a new one but they just vibrate loose too.