I assume the bike shakes back and forth and holding the handlebars prevents that. Also it happens mainly at higher speeds.
A Lot of bikes have steering dampers (i don't know about yours) to help with that, maybe it failed.
Check the steering head for play, it's not real hard to check or adjust. In time they can loosen up, and that can cause it.
I doubt the front axle or wheel bearing is loose or bad, seeing that the dealer has been working on that.
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