What you are describing is rack (tie rod) looseness. If that is indeed the trouble, that shop should not have finished and charged you for an alignment.

Lift the front end off of the ground under the crossmember. Grab each tire and shake it 3-9 o'clock and have someone look to see where the looseness is. If tie rods, you'll see the tie rod moving without moving its partner on the other side or the steering wheel.

Edit: I did not think to mention this, but loosely adjusted wheel bearings are a consideration, but you'll know that just as quickly when you wiggle the tires.

In any event, you should get an explanation from the folks who did your alignment.
--
Art Benstein near Baltimore

I was married by a judge. I should have asked for a jury. - Groucho Marx