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If your boot is torn up then your CVC joint is probably bad or soon will be. Changing the axle will help that situation whether or not it helps the steering problem you describe.
Also check your front end suspensiion. Check the bushings in the control arms for sloppyiness and deterioration. Ball joints should be stiff/tight/firm...
1996Camry described a good way to check the wheel bearing as well.
Kep
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Often, it's the loose screw between the steering wheel and the driver's seat that needs to be fixed first!
Stock 1995 Camry, 5SFE, Sedan.
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