I experienced a similar vibration problem you are having (felt like right under the floor board of driver's side) and it turned out it was a vibration coming from the front CV shaft. It feels like a tire out of balance and may be more noticeable at certain speeds, like mine was really noticeable around 70 mph. I went crazy trying to track down the vibration, from balancing tires at three different tire shops, to buying new front tires, to finally doing a search on this website and the common problem identified over and over was the front cv shaft. Do a search under "vibration" and you'll see a bunch of possibilities out there. Took printouts from this website to the dealer and they went through each one and was able to pinpoint it to the drive shafts. Had both shafts replaced and it immediately solved the problem. The noise you are hearing at slow speeds may also be from a bad cv axle. If you put it into 4wheel drive and put some stress on it (like going up a small hill for instance), is the noise worse? If so, that could be your problem.
Also, because I have so many miles already on my vehicle (120,000), I've already gone through a rack & pinion steering system so I can tell you a little how that feels. I was experiencing a "slow sway" and that's the only way I could describe it on the front end when driving slow. Felt like my tires were doing a very slight slow sway, especially when rounding corners. They said the ball joints of the steering system were well worn, due in part to the larger tires I'm running I'm sure (255/70/16), and the replacement system took care of swaying problem. With my worn rack & pinion system, I did not experience a vibration that you mention, so that's why I'm suspecting your problem may be what I mentioned first relating to the axle drive shaft. Either option unfortunately is not cheap. Maybe someone else has ideas?
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