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Alignment issue or something else?

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Do they take the steering wheel off to realign it if the car drives straight but the steering wheel is at a slight angle?

No

Each tooth in the steering hub describes a large angle, so that's not how you'd want to center the steering wheel.

UNIVERSAL-SPLINE-DRIVE-STEERING-WHEEL-HUB-RACING-QUICK-RELEASE-ASSEMBLY-AF-CA0011.jpg_640x640q70.jpg


What you'd actually do is just adjust a nut on the tie rod -- which shortens or lengthens it -- by equal distance on both sides. This will have the effect of angling both wheels in parallel, while position of the steering wheel remains fixed

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Mine is off as well, Tesla doesn't want to cover it. Wants to charge $300 for an alignment. Question is, can any wheel alignment shop handle this or is this something that only Tesla can perform?
Also, if it's obviously off and the car is reasonably new (or can be shown to be a problem at delivery), they really should cover it. After any amount of milage tho they will just say you rammed a curb. $300 seems a lot tho!
 
Also, if it's obviously off and the car is reasonably new (or can be shown to be a problem at delivery), they really should cover it. After any amount of milage tho they will just say you rammed a curb. $300 seems a lot tho!

Less than 3k miles but they were able to see it's gotten worse over the last 1500 miles, but still do not want to cover.