Yes, you can still drive it. You may have a tire out of balance or a wheel bearing getting bad. However, have a mechanic check it out soon.
if its 4x4 it can be the transmission! easy to fix but u will drive only on 2.
bent drive axle or axles
is this 4 wheel drive
Steering wheel shakes
You can of course continue to drive it but it would seem you would not want to. A simple tire balance will solve the problem.
Tires out of balance, bent wheel, tire defect, or suspension or steering parts worn.
Warped rotors
could be bad alignment
allignment
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.
Tire out of balance or bent wheel.
1 of 2 things or both, alignment or balance.