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If it only does it during certain speeds then it is normally balancing. If the car pulls to either side if you let go of the steering wheel then it is alignment. (or if the tires and unevenly worn) You also might have severe cupping on the tires which would be indicated by loud tire noise (sounds like off road tires) you can tell this by running your hand over the tire and feeling for high & low spots (washboard). If it was severe enough it could cause a vibration. Like going over a country dirt road with washboard bumps in it. The faster you go, the smoother your ride is.
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