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2003 Ford Taurus - 2 or 4 wheel alignment?

OP says tires are 2 and 4 years old. OP said nothing at all about uneven wear.

And 4 years is still pretty young for tires. I grew up hearing “10 years” as a rule of thumb for when to toss tires due to age; more recently, 7 years seems in vogue.

Neither limit is terribly close to being exceeded by the tires on the car. I swear, you could cover 40 acres with the number of perfectly servicible tires some of you would condemn to the dump!

The 1.75 degrees of toe-out on one wheel is about 0.4" of toe-out.