This can be caused by many different things. Problems related to tire balance, brakes sticking, steering components and so on can all cause a vibration.
First, inspect the tires to make sure they are worn evenly. Take a look through this link:
Now, the next thing is to safely lift the front of the vehicle and see if the wheels turn easily. This will confirm there isn't a brake hanging up or locked.
While the vehicle is up, place your hands at 3 and 9 o'clock and with pressure, see if there is excessive play back and forth. If there is, have a helper watch the tie rods to see if one is worn and moving without the rest of the steering components. If you find play in a tie rod, here is a link that explains how an outer tie rod is replaced. Also, I attached two pics below (pics 1 and 2) so you know what to look for. Please remember, the pics show an outer tie rod. There is one attached to the outer one which goes into the rack and pinion gear (under the rubber boot) which can also go bad.
Next, place your hands a 12 and 6 o'clock and do the same thing. With pressure, see if there is excessive play or if you feel a clicking or clunk. If you do, have a helper watch the ball joints as well as the wheel hub to see if there is play in the bearing. If you look at pic 3, I circled a ball joint to help you locate it.
If everything checks good, I would next pay to have the front wheels balanced to see if that is an issue or if there is a bent wheel.
I know this sounds like a lot, but the most time consuming part is safely jacking up the vehicle. Only do one side at a time and the tire doesn't need to be far off the ground at all.
If you only notice this when applying the brakes, take a look at this link:
Let me know what you find or if you have other questions. I hope something here helps.
Images (Click to enlarge)
Friday, January 10th, 2020 AT 5:55 PM