bad front brakes.
try balancing the front wheels
Engine miss.
Steering wheel and brake pedal.
Tires out of balance, bent wheel, or worn suspension parts.
Warped rotors
Could be a wheel weight missing, a bad ball joint or a bad shock.
Warped brake rotors cause shaky steering when braking. Your brake pads are designed to grip the rotor with equal power on both sides, which slows you down to a stop. If your rotor is warped, you get unequal pressure, and the affected wheel vibrates your steering wheel as it alternately releases and let go. You may be able to get your rotors resurfaced; they put them into a machine that takes the top layer of the rotor down just enough to make it truly flat. That's if they aren't warped too badly. If they are, the only solution is new rotors, and that can cost several hundred dollars. Good luck.
You possibly have warped brake rotors on the front. Or Bad Wheel Bearings.
Most likely warped brake discs
You may need a wheel alignment, or you may need bushings.
You need an alignment.
It's possible, but there are other causes too. Alignment, shocks and front wheel bearings can all cause this.