Could be a tire issue or a problem with a suspension component like a shock or spring. A hands-on inspection is needed.
Use this link to find a good shop near you.
https://repairpal.com/repair-shops
Alex
RepairPal Certified shops can diagnose and repair your 2007 Hyundai Veracruz. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.