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The minimum safe tread is TWICE the legal minimum. Stopping distance more than doubles as you go from twice the minimum to the minimum, so when you're at twice the tread as the wear indicators at any part of the tire it's time to replace them.
I have a set of Michelin Pilot Exalto A/S tires and they're awesome. Grip and handling like you wouldn't believe from this class of car. They also seem to be wearing well for a 45,000 mile tire...considering the hell I put them through on a daily basis.
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Toyotas in the family/next of kin:
1982 Corolla Wagon, 1989 Corolla DX, 1991 Previa LE, 1993 Previa LE,
1993 Pickup, 1994 Corolla DX, 1995 Avalon XL, 1996 Camry XLE, 1998 Avalon XL,
1998 Sienna CE, 1999 Camry XL, 2000 Camry XLE, 2002 Tundra, 2003 Tundra,
2003 ES 300, 2004 Camry XLE, 2005 Tacoma
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