Bad Bushings, Swaybar Bushings and endlinks, tie rods or ball joints can cause that. As well, just worn out shocks.
You have to get under the vehicle and inspect, bushing look chunked, chewed up, falling apart, they need to be replaced. Ball joints, you push/pull tug on them and can see/feel them move when they shouldn't, they need to be replaced. Swaybar bushings and endlinks, if they are all deformed, chewed up, you can see gaps between the swaybar and the bushing, they need to be replaced.
Shocks, push up and down on the bumper, the bumper should return to the normal ride-height smoothly and not over shoot or continue to bounce. Shock that are shot still pass that test, but they are at least safe if they have enough damping left to pass the test. You often get an improvement when you replace the shocks even if they pass that test.