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You can't really go wrong with replacing the bearings, which it seems like from the behavior you mentioned. When the bearings are in their last days, the shimmy is less pronounced at higher speed, probably because the high tire revolutions are masking the effect. In the off chance that it's not the bearings, if you do the work yourself, it's an easy job once the front wheels are off. Haven't done mine yet on this vehicle, but past jobs have been under $50 for the parts.
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96 T100 SR5 4wd
04 Camry SE
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