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No...not typically. A bad PS Pump can cause a vibration while turning the wheels at slow speeds, like in a parking lot etc. Most likely a vibration while driving would be caused by, Out of Balance or Out of Round Tires / Bent Wheels or Axles / Bad Wheel Bearings / Bad CV Axle / Bad U-Joint or Damaged Driveline (RWD & AWD) Vehicles. These are the areas you should be checking first for "Vibration While Driving" Posting the speed your vehicle vibrates can also be helpful. :)

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Q: Will a bad power steering pump cause vibration when driving?
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