Violent shaking at times

I got my 2000 SR5 4x4 4Runner from a friend 4 months ago. It has 156k miles. Since I’ve had it it’s had a wobble while braking from high speeds, I assume rotors. But today I went on a very easy dirt road where maximas and Audi A4s handled it like no problem. The second I got on the road the truck started shaking violently as if I had a flat tire or square tires. It is not the first time I’ve taken it off road and it’s been a bumpy ride but nothing like today. Does anyone know what it could be? Thanks

 

Ball joint(s) most likely. Could also be tie rods. How old is your steering and suspension? Could be time to replace all tie rods and ball joints before you have a failure.

 

I believe the whole steering and suspension is all still the original ones. Is there anyway of checking to see what’s actually causing the shaking or is it best to change it all?

 

I think any shop can put it up on a lift for you and check things out pretty easily.

 

You can do a shake test. Put the vehicle up on jack stands or a lift and grab the tire top and bottom, lift up and down and pull out and in to see what moves. Should be zero movement if things are good. If it's the original parts, I'd suggest a complete replacement.