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O assumptions took the best of my lol. ABS is a crutch anyways; and of course it thinks you lost a wheel and does not know how to compensate on only 3. What about torque steer are you getting any or no??????
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Yaris Liftback + 3 Adults + Toddler + Luggage/Crap = 40mpg@80mph 
It just came to me about blogging lol. Its like an orgasm a few good shots and the rest is dribbles lol!
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