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This just happened. I turned the front wheels as hard left as I could to get under the truck from the right tire to check my starter and also jacked up each front side to get ramps under the front tires when I replaced the starter. Afterwards the truck shakes with sharp turns but then is ok when straight.
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From what you have described, it sounds like you might have air in the power steering system. Pull the cap off of the power steering pump and look to see if there are bubbles or foam in the fluid. Just leaving the truck sit overnight might take care of this. Let me know what happens.