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Took my 04 to the dunes last year. Shortly after that my steering started to get stiffer and harder to turn. It was the lower U-joint in the steering shaft that everybody has spoke of. I priced one out at the dealer and I cant remember how much it was but we were going on a trip and the shaft was a few days away. I took a can of sea foam aerosol called deep creep. Sprayed both of the U-Joints in the steering shaft and there was a noticeable difference after driving a short while. Sprayed them down a second time and no more issues. I never did replace it and that was a year ago. I have had no issues since then and it has been thru a Michigan winter with snow,salt,ice,etc. I would try that first before replacing it.
Lots Of Mustangs and a 04 Supercrew!!