You probably have a worn tie-rod. Jack one side of the car up at a time so that one front wheel is off the ground. Grab the wheel and try to turn it back and forth. You should not feel any play. When you find a wheel with play, reach around the wheel with one hand and grab the inner tie rod and hold it still while pushing and pulling on the wheel. If the play goes away, replace the inner tie rod end. If it does not go away, replace the outer tie rod end.
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