Are the tires in good shape. It might be time for tire rotation/balance. Maybe a front end alignment. As you can see it might be several things. I would take it to a repair shop. Tell them what it is going and have them look at it.
Your brake rotors are warped.you need to have the front brake rotors measured to detemine if the can still be machined to make them straight again otherwise have them replaced with new ones.
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