The belts in your tires could be busted. Look for knots on them by running your hand over the surface of the tires. Lots of Water inside tire. If you have used " Fix a Flat" you have 2-lbs of water inside your tire now.
Your front tires are defective. Its time to replaced them.
Probably a wheel balance problem or possibly a bent rim.
Steering wheel shakes
Front wheel drive check cv joints, motor mounts, steering bushings, and bearings, rear wheel drive check motor mounts, universals, drive shaft, bearings, and steering bushings.
Tires out of balance, bent wheel, tire defect, or suspension or steering parts worn.
Warped rotors
could be bad alignment
allignment
Sounds like wheel balance, but check the steering dampner.
1 of 2 things or both, alignment or balance.
Tire out of balance or bent wheel.
I have seen this with bad or unbalanced tires.