It's very possible that it is just a bad wheel hub speed sensor.

Do what 4drgt suggested to test for a bad hub first. If there is no play in any of them then clean the connections and try that.

It may be beyond repair and you'd be best to take it to a dealership for them to determine which hub it is.

There is a way to test them with a voltmeter to see what hub is bad but i'm not sure of how to do it.

I've just dealt with mine doing this for the last year, it's just annoying at slow speeds since you have no power steering.