Normal ? For some.
Common? Fairly,unfortunately.
Fixable? Oh yes.
Every TJ drives best with good tires, sufficient caster, 1/8” of toe in, axles centered, good connections underneath and around 28 PSI tire pressure keeps them less bouncy as well.
There is no one “do this and it will drive great” pat answer-
The first thing you need to do is learn how to do the dry steering test and get familiar with the system and how to diagnose slop/play,
As a rule of thumb you can trust this forum a lot more than you can most shops - most shops have mixed knowledge at best.
With the low mileage the vehicle is most likely in decent shape and only has a few things that need attention-
The key is to figure out what those things are and go from there.
Diagnose. Then move.
Don’t just throw parts at it, Don’t let people tell you you need a long arm kit or some other across-the-board solution-
What you need are good connections, proper settings, decent tires.
Many members on this forum have TJ’s that drive sensational.
It sounds like you’ve got a good low mileage vehicle and this would be very rewarding to pursue.