If your tires point to each other, you have a steering component issue. With 335k on her, check out tie rod ends, ball joints, idler arm, pitman arm, and center link. These can all be checked with a floor jack, a prybar and fulcrum (ball joints), and by wiggling the tire back and forth (right/left) and looking for play. If it's that bad, it should be obvious.
Also to note, are all 4 tires the same size, brand, and pressure. Are they worn evenly? If the other stuff checks out, swap spots on 1 side front to rear to eliminate unequal rolling diameter