We had similar issues, but were addressed in stages of improvements. You might check the following:
1. tire balance and condition(ie broken cord, etc.)
2. warped rotors
3. improper torque on wheel bearings
4. worn or faulty driveline mounts (ie motor, trans, etc.)
5. suspension bushings(lateral rod, control arms, a-frames)
6. ball joints.
7. steering linkage
regards