Check your tire pressure according to the sticker located in the jam of the driver’s side door. Do NOT adjust the tires pressure according to the pressure given on the tire. That is the max tire pressure the tire can withstand.

I rented a car earlier this year and was experiencing the same symptoms you have. The sticker called for 30 PSI for all 4 tires. Tire pressure was over 60 in the front and 45 in the rear

Adjusted the tire pressure according to spec and the problem was gone.