OK, lets start at the beginning again. What motor do you have, 6 or v8 ? What choices do you have on the transfer-case? In the front axle, what kind of joints are inside the knuckles, cv or u/j ?

 

It is a 1999 Laredo,V8.It has CV joints on both sides ( that seems the biggest problem).
What do you meen, what choises on the transfercase? It is permanent 4 wheel drive with option of slow?

 

The reason I asked what choices you have on the t/case is because it's the easiest way to figure out what t/case it is.
Check the output flange for the front drive on the t/case for wear (it should not wobble around).
Turn off the traction control and see if it still does it.
Check the fluid level in the t/case.