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The only way to be sure is to try a bounce test. Bounce the front of the car a few times and see if it comes up and stops. If it does, the front are fine, if it continues to bounce more then once after you stop bouncing it, then they are weak and should be replaced. Do the same test on the rear.
Unless they are leaking oil, it's unlikely they need to be replaced. Not impossible, but unlikely.
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