1996 Dodge Intrepid Car Shakee

I have owned this 1996 Intrepid for about 3 years and only drive about 20-30 miles perweek, mostly highway miels to work. It has 93000 miles. SLowly it has developed a shaking sensation, primarily from the left at highway speeds. Seems to be worse on sloped avemnt and better on level stright pavement.
Now I am experiencing the shaling at lowedr speeds such as 35-55 mph. When I apply the brakes the shaking ceases or deminishes at all speeds. What could be causing this in the suspecnion of this frontwheel drive car? Does this car have tierods, a front torsion or stabilizer bar that have worn out. Thanks for yur time and expertise !