Re: 2004 Ford Taurus.. Are tire belts shifting?.
Also make certain that tire pressure is correct. Highways are generally smoother than city streets. I would get the front end checked out. As Bert said, start with a balance.
Firestone makes some excellent tires. As you stated the tires aren't thirteen years old or have been retreaded (illegal on steer tires by the way), so I wouldn't be overly concerned about the tires.
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'00 Durango R/T 360ci 290hp (modded); 138,500m
'06 Pontiac G6 GT 3.5L 220hp; 44,000m
'12 Chrysler 200 Limited 3.6L 283hp; 13,000m
'99 Taurus 3.0L 2V Vulcan 145hp; 154,300m - Traded
Amsoil in all vehicles!