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The lug nuts on the wheel that hold the tire on must have been loose. Even if you properly torque down all of your wheels, if you don't use a star pattern to tighten the lug nuts down, than the wheel may not be flush with the wheel hub. If this is the case, than the lug nuts can loosen, and the wheel can come off.

Also, if your vehicle has loose traction arms, or tie rods (all parts of the suspension and wheel assembly), than the wheel can not only come loose, but it can fall under the car, causing a very dangerous situation. I would suggest watching a video on how to properly change a tire, before you remove or replace one yourself.

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Q: Wheel comes off car while driving?
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