rubber bushings in motor mount worn
A car's steering wheel will vibrate when driving if the car's alignment needs to be adjusted.
Could be as simple as being in need of a tune up.
check tire balance. check tire for seperation. loose steering or suspension parts.tire problem most likely.
The power steering system works on high pressure and at idle the pump does not turn fast enough to provide full assist. It requires a higher engine rpm.
you probubly have a bad clutch or cv shaft
check cv axles, transmission, and tires.
If the check engine light is or has illuminated recently, start with having the codes pulled.
Mines was doing the same thing and the solution was to replace the front U-joint. Its fine now.
If it only vibrates when you accelerate than it is most likely a bad axle.
Could be a small thing like wheels out of balance 40+ "Noisy Inside Car" bad wheel bearings 30+ mph also decelerating harder to control "Steering wheel wobble "on accelerating / decelerating" "Noisy Inside Car" steering linkage: causes the steering wheel to wobble at 40+ mph decelerating harder to control "Steering wheel wobble "on accelerating / decelerating" My brothers car had the above problems I changed his rear spindle, outer, tie rods, "both were shot" bad bearing "blown bearing"
Normally a bent wheel or tire out of balance.