In an open safe place have a driver and spotter drive next to you while the issue persists.
Note if the tires are wobbling side to side or up and down. Check both sides. If nothing is seen trade spots with the spotter.
How many miles on the vehicle? Could be a worn ball joint, tie rod or knuckle. In the old days these were inspected as part of an alignment but today they just connect the computer and adjust the toe. Lifting the car may have lodged it from its happy place and it may settle back in after a few hundred miles.
Get under the car and try to move things. All should be tight. Observe all linkage and steering gear while a buddy turns the wheel lock to lock and back and forth.
Also observe for worn or noisy CV joints if equipped.