Alias, Have The Entire Suspension/Steering Systems (Ball Joints, Bushings, Tie Rods, Struts, Etcetera) Been Checked Out ?
If nothing’s loose and getting ready to fall apart, I’d possibly suspect a bad (shifted) belt in one of the tires. With the tire(s) off the ground and holding a pointer near the tread, check for radial (out of round) and lateral (side to side distortion) run-out as you turn the tire. You should see the one that’s bad if you’ve got a bad one.
Don’t drive it til you isolate the problem. It could be very dangerous.
CSA