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There are a number of things that could be causing this for you.
As mentioned above it could be your tires/tire pressure. But it also could be caused by bad allignment (hitting a big pothole can throw your car out of alignment, causing the sloppy steering). It also could be some of your suspension parts wearing down, which wouldn't be too uncommon with 35,000 miles on the car, especially if the alignment is a little off. The top three culprits woudl be control arms, ball joints, or tie rods. Hope this helps!
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