Hey Scotty, I have a 2007 Kia Sportage with 147,000 miles. Last night, my girlfriend and I drove it on our valentines day date at the movie theater, and on the freeway, one of the wheels would shake. It felt like the tire needed balanced, but the shaking switched to other wheels at different times randomly. When I turn, the vehicle would tilt, like it was gonna tip over, but no wheels lift off the ground. I do have 2 warning lights though: The ABS light and the ESC OFF light.

have a pro check the trac and abs system, could be just a bad sensor, but only a pro with a scan tool could test that