Car bucking and vibrating

I really don’t know how to explain this but my
car will drive perfectly fine , no problems and
my check engine light never comes on or
anything and then next thing I know it’s
bucking back and forth and vibrating for no
reason. My rpms stay normal, the brakes and
rotors are fine and my tranny fluid isn’t low. I
can go wherever I’m going and my car drives
just fine and then on my way back home it
starts doing this bucking and vibrating crap
to the point idk if I’m gonna make it home. I
don’t feel safe especially with my child in the
car. Like I said it doesn’t do it the entire time I
drive it , it seems it’s after my car has driven
for a little bit and it’s really warmed up. The
bucking back and forth is really bad at low
speeds and at higher speeds it’s vibrating like
crazy. Please help, this is giving me so much
anxiety