Maybe it needs shocks or new tires. Get it checked at a Ford specialist.
Here's a directory link for you:
https://repairpal.com/ford-repair-in-york-pennsylvania
RepairPal Certified shops can diagnose and repair your 2001 Ford Taurus. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.
Thanks for the response.