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I think it completely depends on the angle of the seat. In Mr. Clod's compact car, I don't have one and don't need one. My arms are fairly bent and held upward a bit to be on the steering wheel. But in the minivan, the steering wheel is lower, and farther away, as is typical for a larger vehicle. My arms are held almost straight out. In the minivan I can't drive without the armrest.
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