My 2007 Aura XR's steering makes a small clunking noise that also has something to do with steering being loose I believe. When the car is off and I wobble the steering wheel back and forth quickly, I can feel/hear a knocking noise. The tie rods seem to be ok and the wheels don't wobble at all when in the air. On the highway, also, the car will steer itself all over the lane even though I keep the wheel in the same spot. The steering wheel will twist all over the place when going over a rough road/bumps as well.

The brake pads were badly warped for at least a year and would shake the wheel every time I stopped so I think this is what caused it. I have no idea what's loose though or how to find it.

Any suggestions are appreciated!

 

I would look closely at the rack mounts. I had a 2002 Olds Alero that had ripped the rack mounts out of the subframe.