If wheels aren't balanced they'll vibrate when they're rotating at speed. This can be unpleasant and can even increase wear on tires and suspension.
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A car wheel is attached to an axle. If the car is RWD, the rear wheel axle will be connected to the engine and the front wheels not be. In a 4WD or FWD car the front axle, with a ball joint to allow steering, will also be connected to the engine via a torque tube and a geared differential.
Only the front or rear wheels drive the vehicle and not both.
Tires can be either out of balance or have a slipped belt and cause vibration in the steering wheel. Wheels can be bent and cause it. CV joints can be almost to the point of failure and cause it. Excessively loose steering components (ball joints, Rack, idler arm (if present), struts... Either the front or rear drive shafts could be out of balance most likely the front
Tires and/or wheels out of balance?
A four wheel car can drive on two wheels. There are 1/4 mile drag cars that can do the 1/4 mile on just the two rear wheels. There are stunt car drivers that can drive a car on just the drivers side or passenger side wheels.