Your car needs an alignment. Typically around $100 or less.
A worn out power steering pump, or steering box.
You probably need to get your tires balanced. Or replaced. If the bias goes (steel belt breaks or shifts), the car will waddle at low speeds, and the steering wheel will shake at high speeds.
The steering wheel wobbles, because of the unconditional pressures from the ground that is adjusted at speeds when it reflects gravity.
Check your power steering fliud, if it is low this could cause the vibration you are feeling.
Clunking/knocking sound felt though steering wheel and floor when turning and going over bumps at low speeds.
Could be out of balance Tire may be worn and need replacement Could be a bent wheel
go get 2 new tires and have the alignment checked on it
1996 c60 truck if you turn steering quickly at low speeds vehicle shacks acts like drive train until you stop
Means your steering wheel pump might be going bad. But first check your steering wheel fluid you could be very low.
Tire out of balance or bent wheel.
Low steering fluid can cause a steering wheel to whine when turning. A worn steering belt can also cause a steering wheel to whine when a car is being turned.