Well, the 1st and easiest thing to do is to check the tire pressure. On modern tires, pressures are/should be generally higher than those posted on the antiquated stickers under the seat or in the old manual.
Make sure that you have at least 32 PSI in each - I generally run 35 PSI.
Also, visually inspect the rims for dents, cracks, lost wheel weights or other damage.
Next item is to check steering head bearings, swingarm bearings, and wheel bearings. To check the wheel bearings, grasp the wheel at 3 oclock and 9 oclock position and push/pull on opposite sides trying to wiggle the wheel on the axle. There should be no play. Rotate the wheel 90 degrees and try it again. IF it has been a long time since you've serviced the wheel bearings, it may be time to go in there and clean/inspect/regrease them.
The steering head bearings are checked by ttrying to wiggle the steering head fore/aft and left/right (not turning the handlebars.
Also, check to see how easy the handlebars turn from left to right. IF the bearing preload is correct and the bearings are in good shape&greased, with the bike on the centerstand the handlebars should just gracefully turn to either side starting from the centered position with just a nudge on either handgrip. If they flop over hard against the stops, or don't easily turn all the way - the grease is probably hardened up and they need to be cleaned/inspected/relubed/etc.
Many people forget about their swingarm bearings - these also need periodic lube/clean (perhaps once every few years) and they have large lock nuts which must be torqued to help set the proper preload.
Like the wheel bearings test, there should be NO side-side play in the swingarm and the gaps between the swingarm tube and the insdei of the frames should be roughly the same distance. You'll need a thin walled or ground down 27mm socket to service the swingarm bearings. Steering head&swingarm bearings = regular grease, wheel bearings=high temp wheel grease
