Worn steering or suspension parts. This can be very dangerous, so have this repaired ASAP.
Worn steering parts.
It sounds like it has whats called bump steer. You need to have the camber of the front wheels checked by steering specialist.
suspension your steering dampner has gone bad, replace it and the shaking will stop.
You need a steering stabalizer and if you have one it may need to be replaced.
look for play in the swivels and wheel bearings and at the busses - steering damper shot
Replace your steering dampner. Mine did the same thing.
The balance would be the first think. but if ur tires is old or it was flat for a while there will be a little bump on the side that will make its vibrate. do a balance first. if the problem will not be solved then change ur wheels put front on the back and rear in front but dont drive it if the steering wheel will shake. change it back
One of the shocks on that side is probably bad.
It is on the dash in front of the steering wheel,it looks like a small black bump.
Probably worn steering parts such as the tie rod ends or idler arm. Have it inspected soon by a trusted garage mechanic, you could lose your steering.
Failed steering stabilizer shock, loose tie rod, bent steering component, slipped belt in a tire, etc.
I'm not exactly sure what you mean by a steering wheel position sensor. There's no such thing. There is a sensor for the pressure to bump up the idle if the vehicle is sitting still and you turn the wheel. There's also the turn signal cam and canceling switch.