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I have a 2005 sienna, it vibrates really badly when accelerating over about 40. Kind of like shaking the vehicle left to right, like a really bad wheel balance. When coasting it seems OK. So I don't think it's the wheels.

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Took it to a shop, guy grabbed the CV axles and said "whoa, those seem loose!"

Replaced the passenger CV axle (which had a torn boot so I assumed was in worse shape). Replacing it was non trivial.

Works much better now.

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