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Had the same on my 04 S and a new bearing fixed it. the change in sound when turning at speed is the indicator. About $600 if the dealer does it. $50 for the bearing to do it yourself, bit you need a $300 bearing tool. Still a savings to do it yourself and you will learn a lot of good info about your car in the process. Only takes about 3 hours if you have a lift or about 4hours on jackstands.
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