I would suggest you take a look at your turning radius of the knuckles. You can put the yokes/joint into a bind that creates fatigue. See if you have the proper operating angles on them. I'm betting you are bending the steering stop enough that you put the yokes into a bind. To get an idea of the binding force, take a look at
this video. Replace the bolt stops with new ones. Fine thread and lock down with a nut. Put washers or spacer between the head of the bolt and the stop nut.
Then check to make sure your unit bearing nut is tight to keep the pressure of the stub onto the back of the unit bearing. And the unit bearing knuckle bolts are tight. Then check the pull/push of the axle by prying the back side of the inner shaft yoke against the inner C. When you turn, due to the nut on the end of the stub shaft, the inner axle is push/pulled in/out of the housing.
I adjusted my axles and was breaking joints/yokes due to not changing them on a frequent basis. If you wheel 2 or more weekends/month, locked, larger tires, etc. best to replace the joints 9-12 months depending on terrain, how you drive, etc. etc. etc.
BTW, I'm now wheeling in RCVs in my D30R (high pinion from a XJ). Trans is burned out (auto). Wheeling in a stock YJ on 225s for the time being....