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That has happened to my mom's old van. It was a Steering shook while braking because of warped rotor. Steering shook while driving was because of alignment. I would do both.
I have new tires and alignment done 5 months ago. Maybe they did a crappy job. I will rotate my tires soon.
well you have to align every 7500 miles. So if you did it five months ago, then its up for it again. Rotating needs to be done every 5000, so you might as well get these both taken care of at the same time.
P.S. if you have bigger rims, make sure they use a balancing machine that is specially made for larger rims. Many times they will use ones that are meant for 16-17 inch rims, and its never correct when using it for bigger tires. Check that out, as that may solve your problem.