If you feel vibrating over the steering wheel mean the front wheel are out of balance.if vibrates from you seat then it's the rear wheel out of balance.Sometimes you can have wheel weight lose.
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2 or 4WD - check wheel bearings for excessive play, or check U-joint on driveshaft (especially if the noise/vibration goes away after 70mph or so).
4WD - Check CV joints
the vibration can be your tires, it may need balance, or the tire is out of round. I had seen the tires wear unevenly can cause this. what I mean is because this 4 wheel all the time design, if any of the tire is worn more than the rest can also do that.
the noise is a different thing, it can be a ball joint or tie rod end
Your car has front disc brakes, the disc's are running out of true, as u apply the brake this causes the steering wheel to shake, the higher the speed the more u feel this, the solution is to have the front brake disc's machined true again on a brake lathe or if they are to thin replace them.
have you check the wheels. to see if there balanced right. if you jack it up and grab the top and bottom of the wheel and shack it does it move. that will be bad ball joints..check your tie rods.
it depends how bad its vibrating yes it does req rebalancing the longer you leave this more components will wear to like track rod ends,uneven tyre wear caused by tracking issues if money is tight at the moment you could try swapping front wheels with rear if you have two trolley jacks & tyres have decent tread hope that sheds some light onto situation.
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