Jeep guys: 01 Cherokee advice

Bru

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My future sister in law and her husband have an XJ with 170,000 miles. Super clean on the inside and out, but just starting to rust inside the frame rails on the undercarriage.

They recently started experiencing the death wobble. I peeked underneath and the driver side track bar bushing looks shot. Also, the front passenger side tire was worn on the inside to the point where the tire went flat.

Can a bad track bar affect wheel alignment? Or could there be more worn parts? That would be my guess. Haven't had it up in the air yet. The steering wheel barely felt connected to the wheels the last time I drove the car and the steering wheel has to be cocked to the side to go straight.

How much trouble could this be?

http://www.youtube.com/watch?v=fG_Jw6pOm4s
 

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