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if you have a lot of mile, like >60K, it could be front suspension items, like ball joints, idler arms, etc.
ALso, a tire balance at the tire shop does not always fix tire balance problems. they have road force balancers that tell you what is really going on (starting at 5:00):
steering wheel shakes when high speeds when traveling 70 MPH, do you think it might be warped rotors?
What others have said but if all fail, then it could be this....did your car ever involves in a accident b/c sometimes if a car involved in major crash. It can damage the frame and the structure of how the car drive. I had a 98 es300 years ago with a rebuilt tittle and when ever i go above 70 on the highway the steering wheel start to rattle and shake not a lot but u can feel it. Just a thought.