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Noticed a pop when steering to left or right limits at low speed. The boots had deteriorated and were slinging grease on the underside. Again more of a survey since the dealer had no explanation. It was warranty but the concern is more replacements down the road.
It's a MY2020 rite of passage... like the cracked downpipes. The replacement boots are slightly different so rest easy. Also, the entire axle half shaft is about $120 each or so and easy DIY swap, so don't worry about it.