Had the same thing happen to me while pulling into my driveway, glad to hear no one was hurt mate - can understand how scary that would be.
There was a recall for my model (most likely yours) a few years back. Call Jeep and ask them to check if you had the work done (they'll have your VIN recorded). If not I believe they install some form of spacer between steering box and body rails.
Mine supposingly HAD had the recall performed but was missing the spacer so get them to look at it. I haven't had any problems since but you can be sure that I check those bolts fairly regularly since what usually happens is one gets loose and as a result the other two cannot take the strain and fail.
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1996 XJ Sport
4" Lift, 31x10.5R15 Federal Couragia MT, LPG/ULP
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