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You got the belt wet or muddy, the belt is slipping causing the squeaking. The slipping belt means the power steering is cutting in and out causing the steering wheel to shudder.
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1990 4Runner 3.0/AT/4WD - 285/75/16 TreadWright D-Muds, SDORI Coil Spacer, Aisin Hubs
2005 Mazda 6i 2.3/MT
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