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How do I properly align the wheels on my Audi A4?

The steering wheel on my Audi A4 feels off center and the car seems to pull to one side. How can I align the wheels to fix this issue?

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The first step is to check the tire pressure on all four wheels. Uneven tire pressure can cause your car to pull to one side. Make sure all tires are inflated to the recommended PSI.

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