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If this semis in crimes while stepping on the brakes then you have faulty brake rotors if the steering wheel is shaking they will be faulty front brake rotors, if this grinds and shakes are in sharp turns that would be caused by a fault in the rear differential the fluid will need to be changed
Okay good if this is only on acceleration then most commonly this is a sign of faulty axle joints specifically the inner axle joints
Hello, I had the Pilot at the dealership on Saturday morning. I gave them your email and asked them to check everything you suggested. They said that they went over the entire suspension to include the inner axle joints and they said everying is nice and tight and couldn't find the source of the sometime noise and vibration. Any other ideas?