2011 HYUNDAI GENESIS Wheels Problems

While driving on the highway at 65MPH the driver front tire wables, the tires feel unsafe and not stable. When going over long road cracks on the highway the whole car wabbles and if i dont grab the stearing wheel really hard to not loose control of the vehicle. The ESC light its always on so i know the traction or stability control is not working properly, also the TPM light is also not working because its always been on since purchased the car.

THE REAR TIRES WEAR INCREDIBLY QUICK 60,000 MILE TIRES IN 11,000 50,000 MILE TIRES IN 19,000 CHEAP TIRES EVEN QUICKER.I TOOK THE CAR INTO HYUNDAI FOR THEM TO TAKE A LOOK AT IT AND THE SAID EVERYTHING WAS FINE WITH THE CAR.EVERYTHING CHECKED OUT THE ALIGNMENT WAS FINE. I TOOK THE CAR TO MY MECHANIC HE SAID THE ALIGNMENT WAS FINE BUT THERE HAS TO BE SOMETHING WRONG WITH THE CAR FOR THIS TO HAPPEN. HE SAID HE WOULD HAVE TO TAKE THE REAR END OFF THE CAR TO FIND OUT WHERE THE PROBLEM IS. I CALLED HYUNDAI AND THEY ASKED ME TO GO TO ANOTHER DEALERSHIP AND HAVE THEM LOOK AT IT WHICH I DID AND THEY SAID NOTHING WAS WRONG WITH THE CAR AND CHARGED ME $134.70 WHEN HYUNDAI THEMSELVES ASKED ME TO TAKE IT TO THEM . THERE IS DEFINITELY SOMETHING WRONG AND HYUNDAI KEEPS TRYING TO...