Suspension Issue? HELP! ‘04 LX470 (3 Viewers)

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Joined
Aug 31, 2022
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Location
Columbia, Missouri
Hello All!
Videos below hopefully better convey what I’m typing… forgive me for terminology as I’m not a “car guy” but I’m trying to learn to be with this vehicle.
Today while driving through town I noticed something strange happening with my suspension.
When turning, the car gets way off balance and dips in the opposite direction. Even when not driving. Much more sway than I would typically expect. Also feels like there is a lack of power or that the car can’t quite “catch” to get going quickly.
This started out of the blue. AHC still shows “N” when driving, and will cycle to high and low.

Was planning on having my CVs changed tomorrow. Could this be related? Or is this more likely an AHC/Steering rack issue?
 

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