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Well if anyone stumbles across this, a really poor alignment CAN cause the errors above. I just replaced the lower control arms and took it for a drive with no errors. I am still going to get it aligned as there is a very slight pull but a landslide better then limping it home. Here is a picture of the control arms. The front thrust or torsion arm didn’t have any damage but I didn’t know when I was ordering so I replaced it anyway. The other however took all the damage.
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