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I believe the dealer has a TSB concerning this problem-seems to be prevalent in this Model

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15y ago
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Q: 2002 Honda cr-v steering wheel shakes and pulls to the right?
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Why car pulls to right or steering wheel shakes when iam braking?

You need an alignment.


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go get 2 new tires and have the alignment checked on it


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Temporarely let go of the steering wheel and see if it pulls either left or right.