Steering wheel pulls insync with tire rotation on 1999 Honda CR-V

Steering wheel pulls in sync with tire rotation, shudder at higher speed, not felt when braking

Asked by for the 1999 Honda CR-V
Sounds like the tires need to be balanced, check that the tires spin true and don't "move" up and down, or in and out when spun.
If a tire is badly or unevenly worn it may cause a car to pull to one side but having the alignment checked would show suspension or steering damage.