You have a ~6 year warranty? Thanks for the heads up its worth a call.
So the guy at the shop recommended replacing the inner tie rods first and seeing if that fixes it. I forgot to ask the price and if that doesn't fix it I'll be shelling out for a steering rack anyway.
I forgot to mention I got rear ended by someone on the freeway there was a good impact but I was fine. I was stopped with my foot on the brake and the car behind me got pushed into me; the only apparent damage was a few scratches to the bumper. Could this cause problems with the rack and pinion unit and/or tie rods?
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