The jeep death wobble.
There is a damper shock on the steering that may have gotten weak. That is usually the first place to check. If it has 70k or more it could be other joints, etc. Out of balance wheel, alignment or bump like you experienced can trigger it. Usually starts as a slight shimmy that you don't notice that much and progressively gets worse.
I tow my Wrangler behind my motorhome. Motorhome is diesel and I don't even feel the Jeep behind me so I have a camera on it at all times to keep an eye out for the wobble but I've always caught it before it became a big issue on all the Jeeps I've had over the years. I've seen the wobble cause big wrecks behind motorhomes.