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2001 Lariat F350. Jelibuilt tunes, BTS trans
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So get friend behind the wheel.

Have them turn the wheel from about half turn left, to half turn right on about a 3 second interval, back and forth until you’re done looking.

Start examining linkages. Start with steering shaft input vs output and watch them. Then work your way down the line.

I’ve had steering links look tight if they weren’t moving, but after this check it tells you real quick where a problem is. And nobody wants to pay $900 or whatever it is for a full set of links.

From there take it to a good alignment shop and it should be true. And if you can find a shop that does almost only alignments that’s the absolute best. Bonus points if you can figure out that every shop locally takes it to them.
 
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