I wouldn't call any team fully healthy. The Broncos are missing Bruton who was probably their best matchup for Gronk. They are missing 2 LT's still. And another S just got put on IR in Bolden. Chris Harris is also as you said playing hurt and is going to see limited action.
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If I were betting on this game I'd bet for the Patriots, and I'm a huge Broncos fan. I just don't like the way their offense sputters for huge chunks of games. Especially with Manning at QB. He just doesn't look right and does not have the game manager mindset that the team needs right now. I'm expecting some stupid TO from Manning to cost us any shot at this win.