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Q: I've been told by my shop that I need to replace both rear suspension arms on 2004 Toyota RAV4

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During yearly inspection, rear tires were out of alignment; they couldn't remove the bolts, everything fused together, so will need to replace both rear suspension arms in order to align tires. Estimate =$2000.
Is this fair? Is it worth doing? They said I can drive without doing it, just know that tires will wear unevenly. Any advice welcome!
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