The steering on my 2013 is starting to become a little jerky at freeway speeds, as if there were grooves in the highway. It has 200K miles now. I checked the lug nuts and tire wear looks OK but it has not been going on very long. It has occurred on multiple highways and is not noticeable at speeds under 40 mph.
There might be an alignment shop near you that can easily check for any play in the ball joints, tie rod ends, strut mounts, etc., that could have developed over those 200k miles.
swap front and back tires. If the shaking is goes behind then get new set of tires. Start with no cost troubleshooting first.