This is a common problem with Tundra and Sequoia vehicles. They will likely tell you that the problem is that the tires are out of alignment, but the alignment won't work if the bushings on the rack and pinion steering are worn. To confirm if this is the problem, jack the front end of the vehicle up and grasp the right front tire and attempt to turn the wheel (as if you are steering the vehicle with the tire). While doing this look at the end of the rack and pinion and see if there is any movement. If so, the bushings are worn and need to be replaced. The dealer will tell you that you have to replace the entire rack and pinion, but you can buy a urethane bushing set from Wheelers off road and fix the problem in about an hour for less than $50.00
You have a front suspension part that is worn and/or need the front end aligned. If problem is in the rear you may need a four wheel alignment. If it was low air pressure it would wear the inside and outside edges of the tires.
You need to adjust the steering rods ti out
Get alignment toe probably needs to be adjusted
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