Finally had a chance to jack the vehicle up and put it on jack stands. I started the engine and turn the steering wheel complete to the right. There it is the tire rod on the driver's side was worn out. I was able to turn the wheel right to left with my hand on the tire. As I move the tire from oneside to the other I could see the play from the worn tie rod.

So problem solved worn out tie rod was the issue and cause of the loose tire feeling while driving around curves at low speeds.