Could be a bent tie rod, in any case, you'll need an alignment. I wouldnt mess with steering yourself unless you know what you're doing. If you lose control of your car at speed, the result can be tragic
Get the tracking checked first step
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: Squeaking noise at low speeds
take the front wheels off and look between the brake scratch plate and the rotor. - a stone trapped there will cause this noise. Also between the driveshaft and the hub, where the shaft enters the hub at the back. l
Look too for either a support bracket for a brake line or ABS wiring touching the driveshaft. Also there is an antisqueal spring on the back of the brake calipers someotimes this will touch the outside of the brake rotor, you'll see a shiny mark on the rotor if something is touching. Also the scratch plate on the back of the rotor can touch the inside of the wheel rim, again look for a shiny mark all the way around the inside of the rim. Lastly look at the face of the brake rotor for a circular scratch - indicates a stone stuck in the brake pad. Have fun!
SOURCE: front end shake 90 toyota 4runner 4x4
My 1990 4Runner shook majorly when hitting speeds of 70MPH and up. The front shocks needed replacing and the tires had worn unevenly and needed to be rotated and balanced.
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