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Really they should always be replaced in pairs. However, if one had done only 10 miles, there would be no need. I found that when I had only one front one changed after 25,000 miles I could really feel the difference (between left handers and right handers). I suspect that at 10,000 miles it would be difficult to tell there was something up at the rear - but the acid test is that if the car feels odd round corners one way and not the other, then the opposite damper should be changed.
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