If the entire front end is getting shakey at such times, then the problem is likely in the suspension or steering system, rather than in driveline parts.

Yes, a bad alignment of the front end could cause the problem. But before taking it in for a wheel alignment, I'd suggest that you check all the front end pqrts, looking for looseness and wear. Check such things as tie rod ends, draglink ends, etc. Worn parts in these areas could cause the problem, and you'll need to insure they're up to snuff before getting the wheel alignment.

You also may have worn wheel bearings or knuckle parts. Jack up both sides of the front end. Gripping each tire at top and bottom, see if you get any play when attempting to move the tire. Have a buddy hold the steering wheel solid, and do the same thing while gripping the tire at front and rear. It helps to have another buddy look for movement while you're shaking the wheels.

After doing all this, get back to us and let us know what fixed the problem, or if it still exists.