With both of the wheels off the ground, is there any play in either of them? I wouldn't doubt that your tie-rod ends are original. If so, they are probably worn. The wheels should be stiff when you push and pull on them. You could also have bad idler bushings, you wouldn't be the only one. How old are the tires? They may need to be balanced. The car could need an alignment. There are a lot of things that could make the car ride better. It is all a matter of how much you want to spend.
David

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2000 Honda Accord V6 137k miles

1972 300SEL 4.5 98k miles

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