Yep, pretty much the exact same condition you describe. The first time I was sure I had a front blow out and pulled over to see what was up. The next two times it would shake me out of the seat until I was almost completely stopped and then get itself corrected. Luckily no trailers or snowy roads.

This first happened at around 20K miles. Dealer replaced the steering damper, track bar bushing and ball joint, upper and lower ball joints on the right side. It's been solid since but I'll be crossing my fingers as I near 40K, especially if it's winter road conditions.