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Sometimes it is possible to actually see if it is out by either following the car or looking carefully from behind stationary. As a basic test, if parked on a level piece of flat ground checked with a spirit level, a plumb bob weighted bit of string, check from near the top of the rim down to...

If tyre wear is on outside edge all the way around on one wheel on a beam / solid axle I would suggest the axle has taken some damage such as losing control on a bend sliding the back end into the kerb, there wouldn't necessarily be any body damage, maybe by a previous owner, in the old days...