[DSM351]

Did this start all of a sudden or slowly get worse?
I would start by checking the tire pressures.
Then lift the car by the frame and then pull and push on the tires on the sides and the top and bottom to check for loose suspension parts. So you would push on the top of the tire with one hand while simultaneously pulling on the bottom of the tire, then do the opposite and feel for any loose parts.

Report back with the results.