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I've had this problem before, and it turned out to be the bearings.
If you want to check these, the process is simple. Just jack up the front wheels one at a time and then put one hand at the top of the wheel and one at the bottom. Using a light amount of pressure at each point, try to push with one hand and pull with the other. You shouldn't be able to get any motion, but if you get a small amount of play, you have a bad bearing on that side. Another symptom of bad bearings are a resonating roaring sound front he font or rear wheels. It will sound like road/tire noise, but louder.
I saw your car has 143,000 miles on it, which definately makes this a very good possbility.
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