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Jack each tire up off the ground. Grab it and see if there is any "play" both side to side, then top to bottom. Play can be defined as...say....loose wiggle. It would be as little as a millimetre, and this would indicate a bearing on it's way out. At the fronts, however, be aware of worn tie-rod-ends. If you stick your head in the wheel well and look at the steering rack, move the tire and view where the "slop" is coming from. If the tire jiggles see if the arm of the rack moves and trace it to the tie rod end. Take a look.
If all is "firm", not refering to my "goat-ness" ROFL !!! ....then I concur with my friends' posts above.....likely it tire(s) out-of-balance.
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