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I'd get the tires checked at a shop that has a road force balancing machine. My VW Touareg is very susceptible to steering shake and VW actually specifies all tire mounting to be done with a road force balancer. The other possibility is that your tension rod bushings are perished. They are liquid filled, they'll look like they are wet with oil because they leak. Mine were done at 70,000 miles and replaced with Energy Suspension urethane ones. Lift the front end and look at those, then think about the tires.
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