This can be a number of things. The first may be if your tires are out of balance (a tire shop will check this for you) This would be an easy fix for sure. The more serious issue may be a bad tierod end or ball joint on the vehicle, either will cause similiar problems and require attention right away as they are a major safety issue if not repaired. I would suggest going the route of the tire shop and they may even take a free look at the other parts as well!
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