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YES It is common for a 2004 Highlander 4x4 automobile. The RAV 4 4x4 also. If you have the problem check with the dealer it might be covered by the warrenty. 5 yrs 50000 miles. mine had 48000 miles.I lucked out.

I just scheduled my 2004 Highlander 4x4 to replace the rear passenger side wheel bearing. My Highlander has 107K miles.
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Q: Is a bad right wheel bearing on a 2004 Toyota Highlander common?
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