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Welcome to Justanswer, My name is Danny I am here to help.
The problem is the steering rack is back also called steering gear this is what actually moves the wheels left to right. You can order these from napa they run about 120 bucks Here are the steps to replace
Let me know if you have any questions.
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the steering rack is back or bad?
Sorry for the mistake
These are known to go bad and cause what your having
They are easy to replace and would suggest getting it done ASAP before you lose control of the steering completely
Let me know if you need anything.