2007 Dodge Caliber Car jerks to the right

Between 40 to 50 mph my car jerks slightly to the right and back to left. Above 50 mph and it is fine. I took It to a car repair shop and was told the mileage was wrong and instead of having 80000 miles it was more like 280,000 miles. And instead of having the brakes repaired (there were no pads on the front brakes) I should replace the tie rods and ball joints. If I didn't I would not only lose a wheel and die I would take out countless others! I had a car a long time ago that needed a tie rod and when you turned the wheel extremely to the right it made a clunk sound. My car is not making any noises like that. Someone else told me it might just need an alignment or it may be my transmission. This same repair shop told me over a year ago that I should replace the tie rods. Because I was out of work, I didn't or couldn't get the work done. Now I have a part time job and the repair shop owner told me that isn't good enough and to get a full time job and then proceeded to give me and my sister job searching hints!