2000 Toyota Corolla

Take to an alignment shop and get a 4 wheel alignment, most likely you have a toe/camber problem.

You can try this before you go:

Raise car, put on stands. Grasp tire and push/pull both horizontally and vertically, if any movement then possible wheel bearing, ball joint, tie rod, control arm bushing.

Check CV boots for any signs of leakage or cuts/rips in rubber boot.