Took the car to multiple service shops and everyone came back with the same answer "we can't find anything". Finally found a shop that figured out the problem, for some reason, (3) of the four tires had flat spotted. Put new tires on and the car rides like a dream. Don't know why the tires had flat spotted as the car has never set over a couple of days and no skids but who knows, I'm just happy to cruise down the interstate with no vibrations.