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Update - I took it back to the dealer for some other work and they took it to the 4 Wheel Parts store that was next door for an alignment. The mechanic from next door and another person independently told me that the ball joints do need to wear in. They have a lot of people come back complaining about the same thing but it works itself out. I guess I will have to wait and see. It might take a while since I don't drive it much on weekdays. They also said I need to get used to driving such a short wheelbase. In the mean time, I am going to research what bumper I want to buy so I can mount my winch. I will update later if the steering actually gets better.