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I have a 2000 S at 94000 miles and just rebuilt my suspension. Replaced all the control arms, drop links, sway bar bushings and trailing arms. It definitely needed a full on alignment after that, but it drives much better. It was very squeaky and creaky. You could definitely tell the old parts were shot once they were removed. Mine still needs some shock and/or spring work to solve a few more squeaks. I did it myself over a weekend. It's really not hard, just take your time and be methodical.
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