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How many miles are on the truck, it is after all going on 9 years old so it may need some front end components replaced and a front end alignment. Also are your tires in good shape and balanced properly, did a tire throw a weight off the rim causing the tire to go out of balance. Lastly you may have a bad tire with belt separation.
It is time to take it to a good front end shop and let them take a look at it and let them give you an estimate on what is wrong and the cost to fix it.
It is time to take it to a good front end shop and let them take a look at it and let them give you an estimate on what is wrong and the cost to fix it.