Your tie rod nut needs tightning, the extra play causes the front end to vibrate or wobble your vehicle and sterring wheel.
look under the car where your steering wheel gear box connects to the tie rod, see if the nut and carter key have slop in it.
if so, take the carter key out and tighten the nut and then replace the carter key as it was.
the test it on some bumps and potholes.
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