Worn steering parts will not cause a vibration but they can allow some other cause to make a vibration feel worse. At lower speeds suspect a broken tire belt or bent wheel but at the higher speeds you mentioned tire balance is the logical suspect. An out-of-balance rear wheel will be felt in the car seat and floor. A front wheel will be felt in the steering wheel.

Worn inner cv joints will cause a shimmy in the steering wheel while under load such as when accelerating but that goes away as speed increases.

Answered by caradiodoc (expert)
17,633 answers provided

Ok, thank you. I will have my tires rotated and balanced soon and let you know how it goes.

Response from dansfraz
5 questions asked

I went and had my tires balanced and rotated them. The vibration is gone. Thank you very much.

Response from dansfraz
5 questions asked

All right! One in a row. Happy to hear it was a simple fix.

Answered by caradiodoc (expert)
17,633 answers provided