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Doubt it. Usually its tire balance, driveshaft balance, u-joints on said driveshaft, or a bad tire/rim. How is the tread depth on the tires? Where do you feel the shaking from, the steering wheel, seats, floor?
To check for worn ball joints, jack the car up and grab the tire at 6 and 12. Have an assistant watch the ball joints as you pull towards and away on the tire while feeling for irregular movement from the tire. Its pretty simple and only takes a couple seconds. You should also grab at 6 and 3 to check the tie rod ends and other components depending on the steering setup.
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