This is not that uncommon a problem, and there could be several causes.
The lens that will focus from 50-105 - I would suggest that infinity needs to be readjusted at the wide angle lens. This is done by removing the rear lens mount, and then replacing/adjusting the spacing washers at the rear of the lens that adjust infinity focus. In the old days you could buy washers of dirrerent thicknesses - now you usually pack them out with home made washers made of aluminium or brass..
The other lens - do a little test for me. Set the lens to 50mm, and focus an object say 10-12 ft away. Now zoom the lens to 105, and check if the object stays in focus. Now zoom to 35, and check again. Finally set the lens to 50mm and check it is in focus, then zoom to 105 and back to 50, and see if it stays in focus. Then zoom from 50 to 35 and back and see if it stays in focus...
I suspect the zoom guides will be worn (the zoom giudes have a plastic coating on their outsides - they are made of brass) - when the plastic wears the lens will not stay in focus when it is zoomed...
Any camera technician who has a lathe and some time can turn up new guides, and make new focus shims to adjust the focus..just a matter of finding someone who has done it before and is willing to do it..