A very different set up but my old chevy truck was doing that for a while. Just new steering arm, pitman arm, and tie rod ends and it was good as new. Put it on a lift/jack stands get underneath and have a buddy wiggle the tire (which i assume it is wiggling as part of the problem) watch to see what parts are loose and replace.
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'00 Alero GL - 11X,XXX miles
-4500K/6000k/30000k(purple) HID's Hi/Lo/Fogs
-Carbon fiber pillars, door handles, and Gas cover
-Optima yellow top. This battery went end over end in my jeep (not strapped down) 13 times for 75 feet. and now is in my alero. one tough battery
-Cleared Corners/Painted Bezels
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