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yes you should change the ball joints, becasue although the tire wont fall off, on two seperate occasions i have broken balljoints, one resulting in a wreck. one time the balljoint shaft snapped, and the control arm came off the knuckle, and the other time the threaded end of the shaft broke right where the cotter pin goes in at, which resulted in the castle nut coming off and then the balljoint coming out.
i do drive my car like a lunatic though.
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over 10 grand in parts, and about 300 hours of labor, and i only spent 3k. and then Katrina filled it with mud.
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