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Q: Loose tie rod

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I have been feeling shaking when I'm driving, it's rattling my steering wheel when I drive and the whole car at times. Now when I went out to inspect my car, I checked the wheels and they are fine. But when I checked the bar that is attached to the passager side wheel it was loose. What can I do about it? Do I need to replace the whole bar or how can I fix it and be economically sound about fixing this?

My car has 160400 miles.
My car has an automatic transmission.

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