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I've got a 97 with a 3.5. Mine was doing the same exact thing. You prolly need the front linkage changed, maybe new struts too. New tires are always a plus!! Also, I had a problem with my passenger side rotor when I first got the car. Don't know what was up with that, I changed the rotors, breaks, and bleed the break lines. I've put about 70k on since I replaced all that. Both rotors are wearing evenly.
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