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Mine has been doing this for over a year now. Had just about everything replaced on the front suspension including steering shaft $$. It dissappeared for a few months then recently came back.
Tires are new & recently rotated. Only have about 77,000 miles on an 01.
I'm suspecting the pump as EXv10 stated. My problem is intermittent and disappears after a while driving. Seems like a sharp left turn sets it off.
Yes a turn sets it off (forgot about that). I had a a marathon thread on it but don't know if it is still in here; STEERING JERKS BACK AND FORTH
I also replaced the belt and it's been fine for a year now. It's not a suspension problem.