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The wheels might be out of alignment (not so dangerous) or you could have a loose or broken tie rod (very dangerous).
I was driving around for months with a bad wobble in my front wheel because my great, honest mechanic had suddenly moved (he was pushed out by a "connected" neighboring business) and I lost his new number. When I finally got his number by fortuitously meeting his old landlord, I took the car in.
When Angelo first drove it with me he said, "holy shit!" After analyzing it though, honest Angelo told me he was surprised to discover it was just uneven wear on the tires. So even exposing or creating a tire flaw could do it.
There's really no way of knowing without having it inspected.
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