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If you have a truck or Expedition under warranty make sure you get a wheel alignment done prior to expiration. There is a caster/camber kit that must be installed to make these adjustments. It is not installed at the factory. I just had this done, and the total cost was $180. A standard alignment would have cost me about $48. I believe the kit installation was $30 per side and $60 for the kit. The work was done by an alignment shop. He told me Ford charges $30 more for the kit. It would cost you nothing under warranty, but the dealers and Ford do not inform you of the need for this kit. I was also told that the new Expy w/ IRS requires a kit for the rear as well. Be aware that if you have the alignment done at a dealer and your truck is within specs, they may not install the kit(s) or do an alignment (whether warranty or not).
You wouldn't, but if you need adjustment don't wait till your warranty runs out. The point is while under warranty go to dealer for alignment so the kit is free. Plain enough now?