Worn shock absorbers can cause this, as well. When they are worn out, they won't dampen the vibrations in the road and this translates into side-to-side play in the steering if there is looseness in it. My roommate's W126 would shimmy harshly above 70 MPH even though the wheels were balanced. After replacing the front shock absorbers, the shimmy went away.

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1967 W110 Universal Wagon, Euro, Turbo Diesel, Tail Fins, 4 Speed Manual Column Shift, A/C
1980 W116 300SD Turbo Diesel, DB479 Walnut Brown, Sunroof, Highly Optioned, 350,000+ Miles