2nd to 3rd shudder on that generation ES can sometimes be a fluid and filter service rather than anything major. Worth getting a proper diagnosis before assuming the worst case scenario.

Poor self centering after turns is a specific symptom that usually points to steering rack or column issues rather than tire or alignment problems. Worth mentioning that detail specifically when you describe the problem to any workshop.

Aftercare being overlooked is a real issue that affects how long even a good installation lasts. Using suitable wash products and avoiding harsh chemicals makes a noticeable difference over months of daily use.