2004 Other Nissan Models tires or rims or rotors

Shakes or Wobbles problem
2004 Other Nissan Models 6 cyl All Wheel Drive Automatic 65K miles

When im driving the car at various speeds the car and steering wheel shake and then sometimes when under braking also, iv put 20k in one year, since we bought car used. Could the rotors need to be done and new brake pads. Also the tires where rotated.I