First thing first check the bushings on the control arm mounts. And work your way outward, as these aareas often get overlooked and become worn out from road grim. After that you will want to look into either the springs or shock absorber. Primarily the springs as these metal rings distort over time. Following that you want to look into your shocks. And then tires.
Body mount bushings. This is true for ladder frame vehicles like older pajeros or land cruisers. Through time, the bushings that connect the frame to the body gets compressed or sometimes become brittle and cracked. Every bump on the road will get transmitted to the body-- and to the passengers.