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Jack up the front end and check for play at the wheel. Pretty much any play is bad. Could be tie rod ends, wheel bearings or ball joints.
i second that, put it on jack stands and try to "wiggle" every steering component, there shouldnt be any play anywhere, except the steering links which may turn slightly but shouldnt have much play in them at all, other than that check your tires for bubbles on the sidewalls inside and out, you might have a busted belt in one..........
Is it a 4WD ?could be a stuck lock out? only turning one way, not wobbling while driving not thinking bearings. answered my own question if the truck you are describing is in your gallery, what about kingpins?
If everything mechanical checks out, spin the tire and look for radial runout towards the outside edges of the tread. Either that or go to your local tire place and have them "Road-force" balance the wheel.