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Save yourself some headaches and go ahead and replace the axles, you can get rebuilt ones for about $65, and if they go out completely while going 55 or 65 on the highway, could cause excessive damage, possibly even trashing the front diff housing, costing many times more than replacing them now will.
If it is causing the steering wheel to jerk, I wouldn’t drive it till it was replaced.
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Huck
Subaru Ambassador
92 SVX LS-Tour Magnaflow Exhaust, 5-Spd-AWD 
88 XT6 AWD 5-Speed "Bride of FrankenWedge"
15 Impreza Premium Sedan
15 Crosstrek XV 5-Speed
My 5-Speed "How-To" Write-up
1976 Pontiac Firebird Formula
Current Count of Subaru's Owned.... "70"
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