HI. There are several issues that will cause this. I will list them below.
1. Unbalanced Tires.- have the tires balanced, or rotated, if not done so already.
2. Damaged intermediate steering shaft. - I would have this shaft inspected for damage.
3. Mis- Aligned steering assembly.- If your vehicle has not received an Alignment recently, this will be a good starting point to correct this issue.
4. Damaged front right axle assembly.
5. Loose tire rod assembly.
6. Loose lug nuts. Improperly torqued.
7. Damaged right strut tower assembly.
8. Bad tires.
The above areas of concern should be inspected for damage, asap. Replace any par that may be damaged.
Theres mud on the inner side of the wheels, take a hose and clean it.
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