We report $^{29}$Si NMR measurements in single crystals and aligned powders of URu$_2$Si$_2$ in the hidden order and paramagnetic phases. The spin-lattice-relaxation data reveal evidence of pseudospin fluctuations of U moments in the paramagnetic phase. We find evidence for partial suppression of the density of states below 30 K, and analyze the data in terms of a two component spin-fermion model. We propose that this behavior is a realization of a pseudogap between the hidden order transition $T_{HO}$ and 30 K. This behavior is then compared to other materials that demonstrate precursor fluctuations in a pseudogap regime above a ground state with long-range order.
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