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Lift the car up off all four wheels, and go wiggle each wheel to see if anything is loose...
Also, turning the wheel from lock to lock and watching what the rear does will let you see if both rear wheels are doing the same movement.... lock to lock, the rear wheel movement should be opposite the front a bit, then to just past straight, then just past straight going the other way, then back to the starting position, only turned in instead of out, or vice versa...
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