This could be a few things like play in the tie rods, ball joints or wheel bearing.
An inspection at a shop should uncover the cause right away.
Here is a link to find a shop near you.
https://repairpal.com/repair-shops
Alex
RepairPal Certified shops can diagnose and repair your 2010 Nissan Maxima. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.