1995 Camry sometimes wanders

I have a 1995 Toyota Camry 2.2L 4cyl. With 95,500 miles on it. I recently purchased this car because my old car was too small for my family. My problem is that the car wanders sometimes. It will feel like I'm on a grated road surface when I'm not. It seems to happen most on concrete surfaces. This is the first mid size car I've owned and I'm wondering if this is normal for a car with a "softer" ride or if something is wrong. Thanks for any insight you can give me.