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Sounds like tires needs balancing. If they are worn a lot you may need new ones. THis happened to my 2002 and balancing the tires fixed it but they also found out the front end was out of alignment. Hope its that simple for you.
it's not tires.... gosh... it's either bad brake job (not following the factory manual procedure = lopsided caliper/rotor), dirt under brake rotor, OR (most likely) your alloys have larger-than-normal center holes....
I had a similar issue with my steering wheel vibrating on my 2005 LS430. Turned out that the front left tire had a puncture, and was running a bit low on air pressure.
Fixed the tire puncture and ensured all tires had the required amount of air pressure and just like that -- no vibration in the steering wheel. A laser wheel alignment wouldn't be a bad idea as well.