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steering wheel shake at highway speeds on 2000 Saturn LS1

Recently, I have noticed that when I am driving my 2000 Saturn LS1 on the highway, there is a slight shake that I can feel in the steering wheel. I do not notice this when driving around town at lower speeds.

Asked by for the 2000 Saturn LS1
rotate tires front to back and try it again.if tires are worn replace and have them balanced.