I had this issue 5 or 6 years ago. I checked tires, wheels, alignment, suspension components, ect. I even thought my tranny was toasted. It ended up being the inner cv joints. I had a garage check them when my car was on the lift and I was told everything was fine. I told them to change the half axles anyway, and the inners literally fell apart during the removal. That was the first time I've seen that happen. That could have caused some serious damage if they fell apart while I was driving. Your half axles may be fine, but it wouldn't hurt checking. Just my .02