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Check your engine mounts, 4 cylinder tends to get vibration on the steering wheel and the chasis itself as the mounts starts to wear out (nothing serious, but annoying), my 94 gen3 2.2l camry automatic also have this problem, but it does that randomly and most the time it does not bother me.
There are 4 mounts, front, rear, side (the so called "dog bone mount") and transmission mount, my personal guess would be the transmission mount, but that's just a guess from a newbie so you might want to have a pro to check it out for you first.
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