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What causes a 2001 4 runner to vibrate and feel like you are running over rumble strips at 20 mph?

I just bought a 2001 Toyota 4 runner a month ago .. it had 150,000 miles on it .. I just got back from a road trip that was around 850 miles round trip and just a few days later it just started one morning its smooth riding as you get up to 20 mph then it starts to shake and feel like you are running over rubmble strips all the way up to about 40 or 50 then its just some vibrations ..

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