The tires are probably heavily worn with a lack of correct alignment due to the worn bushings -- hence the wandering turns.

Sounds like it needs a good revamp.

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2016 Monsoon Gray Audi Allroad - 21k
2008 Black Mercedes E350 4Matic Sport - 131k
2014 Jeep Wranger Unlimited Sahara - 62k
2003 Gray Mercedes ML350 - 122k