If this problem happens only when you are driving ( not in Idle/parking) then you need to check the wheels with a mechanic, you probably need to align and balance the wheels. Good luck
Sounds like you have a split belt on one of your front tires. Check this by jacking up car and support on stands. Spin tires by hand and look for uneven tire surface.
SOURCE: I have a 2001 jeep wrangler steering wheel shakes
If the u- joints are loose, yes, that would cause the front end to shake.
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SOURCE: wobble in steering wheel at low speeds. Braking
have your tires checked for seperations before they explode on you going down the road.
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You need to check the following, tire wear on tread, tie rod ends, wheel bearing. Jack vehicle up, wiggle tire easy left to right checking for plat in tie rod, grab tire up and down fell for play (wheel bearing), fell if tire worn on inside of tread
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