The three most probable causes for steering wheel shake at highway speeds (60-70 MPH) are: A. worn wheel bearings B. out-of-balance tires C. improper steering rack sliding force
If you are indeeed having trouble with steering wheel shake at highway speeds (60-70 MPH), I would suggest looking over this technical manual which applies to '99-'01 model year Pathfinders and Infiniti QX4s:
http://www.gwcustom.com/mirror/ITB00-049.pdf
However, if you are having trouble with steering wheel shake only when braking, it's most likely warped disc brake rotors. That's something completely different.