K... that didn't really answer my question but I'll try anyhow: If your steering wheel jerks quickly from left to right when you tap your brakes at a medium-low speed, your FCABS (Front Control Arm Bushings) are likely gone.
I thought cabs before I'd read more than your thread title.
If you search around here, you'll find many of the ways to verify them as being bad. You can also look. If they're stock, you'll notice that perhaps they're leaking their oil filled center, or perhaps so bad looking, you'll just know they're gone.
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