Sounds like you have a power steering issue. However the "wheels are falling off" comment is a little odd.
If you don't have the money to go get it looked at. It's a long shot, but, maybe try to take it up to Advanced Auto. You might get lucky and one of the more knowledgeable guys will take a look at it. Wear a low cut shirt!
Last suggestion would be doing a google search for a Durango forum. Either way. Good luck!