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Sorry for all the tidbits, but start with your right rear first. Take a close look at it to see if you have "funky toe" in the right rear (compare left to right). If you don't notice anything, jack it up and "wiggle" the wheel to see if anything is loose or makes funny noises.
I'm saying right rear because it would take the most weight during a left turn and you say when it comes around it straightens out.
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