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Occasional Kick In The Steering Column

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I have a 2007 RX-350 AWD. Recently I noticed a little kick-back felt through the steering column and steering wheel (my steering wheel is half wood half leather). Please note that it is felt less when keeping hand on the leather part of the wheel. I can't really say when this is happening (sometimes when turining and the road is not 100% smooth). This is my first-time experience with SUVs as a previously had sedans and coupes.

Please let me know if anyone has experinced the same thing and wether this is due to the fact that SUVs ride higher than cars and have higher center of gravity.

Any input is appreciated!!!

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