Vibration

Can be brake rotors if on brake pedal when you feel it or sounds like it may be tires/wheels need balanced or tires or a tire may have a broke belt. Otherwise look at or have a shop inspect the suspension parts, Ball joints,ect Make sure lug nuts are tight. Also check your tire pressure as retail tire shops & dealerships today are only inflating tires to 32 pounds when the tire calls for 35 pounds, over time this causes the side wall of tire to fail and come apart mostly at highway/interstate speeds which is resulting in crashes/blowouts.

Brake rotors will cause it to do that but if the tie rods are worn, it makes it worse. Do the brake rotors first

I'd check the tie rods, unless the shaking only happens when you hit the brakes