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Hard steering; feels like a flat tire. What could it be? 200

Thanks for all of everybody's help.
You said that you replace all of the tie rod ends at the same time. I have only done the outer ends and not just the inner ends. How hard is it to do the inner ends? Do you have to get a new boot for each side? I have replaced a whole steering rack which included the inner ends but I am hoping to not have to replace the rack on this car!
Also the syptom happens while the car is parked and while driving without much differance as to either. If I jack up the car and inspect the T'ends and the Ball joints, will it be obvious if they have failed or do I need a micrometer or something?
Thanks for everybodys help. The car has almost 300,000 miles and it seems like I am having to do a lot of replacing of parts at this time; last of which was the transsmission.






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