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There's a worm gear adjustment screw on top of the steering box that might help
How hard is this to get to and can I do it myself? How?

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New shocks should cure the excessive body roll during turns. Worked like a charm for me.
Are new shocks all I need to fix this wobbly, vibrating, loose feeling suspension? I guess this wouldn't be warranty work then, huh? Is there anything else it could be that by taking it to the dealer they would find? I just know mine should feel like my parents X...a tight and stable feel.