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if you're talking bout the 'washboard' on some of them, its normal. if it does it all the time its usually tire balance, Road Force balancing cures when regular balancing wont, spendy though
How new are the tires? I know after the winter season my Pirelli P zero Rossos flat spot from sitting and will vibrate for several miles before they heat up and it goes away. What tire pressure are you running? If your pressure is above 35 drop it to 30 or so and see if the vibes settle down a bit. Easy way to tell if the rims are warped or the combo is unbalanced.
Check tire/wheel balance as said above, look into your rack and pinion too.
X3
Check into the following
1. Road force balancing all 4 wheels
2. Balancing of all 4 tires
3. Axle hubs get the car into the air and grab the wheeks to see if they wobble and have play
4. Shocks, Rack and Pinion. bushings etc