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You may need to get your tyres re-balanced or checked for air/pressure. If you have power steering, it may also be caused by a lack of fluid in your power steering lines. Check basic stuff like ATF and PSF before taking it to a mechanic. My Audi used to do the same thing and it was due to low tyre pressure. I re-filled them myself at a gas station and it seems to have fixed the problem.
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