Q: Rocking steering wheel, vibrating car

I accidentally ran over a deep dip on the shoulder of the road. Afterwards I could instantly tell the car had a deep vibrating when driving. Next i noticed that when i first begin the drive the car at a very low mileage around 3-5 mph, the steering wheel rocks side to side, very slightly, as if i’m in a bumpy and uneven road. and when i’m turning it almost feels as if the still wheel is fighting back against me and i can feel the vibrating. However, the car drives straight and the steering wheel doesn’t rock when i begin to drive faster, but i can feel the deep vibrating/shaking. It’s not a hard vibrating but i can feel it hroughtout the car because something rattle lightly. Other than that the car drives fine, no swerving and no actual noise being omitted from the car. No grinding when turning, squealing. And it’s not actually hard to turn or anything.

My car has 40000 miles.
My car has an automatic transmission.