Take it to a shop that can check the alignment which is most likely in need of adjusting. Or just wait until you replace the tires and then get an alignment.

The tires look fine for summer driving in Cali, so your are good for now.

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2002 X5 4.6 Sold
Dinan CAI, TB, Mass Air, Stage 4 engine & tranny software, X-pipe
2004 745Li
1997 Ford Mustang Cobra Vert
1985 Mazda RX-7
13B-REW single turbo 60-1, Haltech, Meth injection, MSD Ignition, and much more
2008 Mazda Speed3 Hypertech Tune