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Most time the tires are out of balance but you can also have worn out and loose suspension parts. Don't mess with waiting on something to break so you can find the problem. You might not be around to repair it. You have to jack the car up a little to inspect the ball joint and tie rod ends for being loose or defective with too much play or wear. You or your buddy has to move the steering wheel back and forth 3-6 inches while the other is under the front end with a flashlight looking for a ball joints and tie rods that move but the attached bar does not move exactly at the same time. Borrow a manual from your local library and learn a bit about checking out this problem. lol

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Q: 1994 Ford Taurus front end makes noise and steering wheel shakes?
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