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Alright so I promised I would update so here it is:
Since I started this thread I have been to 3 more garages. I have changed out my rims and tires. My aingment was 100%. Every garage told me to stop driving it because it is unsafe so this is getting pretty old by now. I've spent over $500 to try and get it solved and no one knows what's happening. I am going to get the car back to Toyota and hopefully this time they will figure it out. In case anyone else is experiencing this problem, I will again post if I get any closer to a diagnosis. It's bad enough that on a icy highway the car has been thrown sideways at 70km/h twice under only light acceleration.
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