The fact that you can sorta feel it in the steering wheel means it should be easy to find. Sounds like dry and worn steering linkage or ball joints. If you have a person who can jack it up and shake the wheel about. Any independent shop should be able to sort it out. Places that do alignments usually will do an inspection as part of the process. Mostly because they would like to repair it for you. You might check AAA as for recommended shop. Get it checked. I had a ball joint let loose in my youth, bad experience.