This procedure covers the removal and replacement of the Electric Power Steering (EPS) module on a 2021-2024 Ford F-150 with the 3.5L EcoBoost V6 engine.

Warnings

Tools required

Parts

• Electric Power Steering Module × 1 — Use OEM specification
• Module mounting bolt seals (if equipped) × 2 — Inspect and replace if damaged

Preparation

1. Park vehicle on level ground and apply parking brake
2. Place wheel chocks behind rear wheels
3. Turn ignition to OFF position and remove key
4. Disconnect negative battery cable and wait 2 minutes minimum
5. Center the steering wheel and lock it in place using a steering wheel holder or seatbelt through the wheel
6. Raise front of vehicle and support on jack stands at frame contact points
7. Remove front skid plate or underbody shield if equipped

Procedure

1. 1

   Access steering column area
   Remove the lower steering column cover by releasing the retaining clips and removing the cover screws. Pull the cover downward and away from the column. Remove the upper steering column cover in the same manner.
   Torque spec

   Cover Screws12 Nm (9 lb-ft)
2. 2

   Disconnect EPS module electrical connectors
   Locate the EPS module mounted on the steering column. Press the release tabs on both electrical connectors and carefully pull them straight off the module. Note the connector positions for reassembly.
   ⚠Do not pull on the wires themselves; use only the connector bodies to avoid damaging the wiring harness.
3. 3

   Remove steering coupling bolt
   Locate the steering column coupling bolt that connects the steering column to the intermediate shaft. Mark the alignment of the coupling before removal. Use a socket to remove the coupling bolt completely. Do not allow the steering column to separate until the module is ready for removal.
   ⚠Mark the coupling alignment with paint or a scribe before removal to ensure proper reinstallation.
   Torque spec

   Coupling Bolt39 Nm (29 lb-ft)
4. 4

   Remove EPS module mounting bolts
   Support the EPS module with one hand. Remove the module mounting bolts that secure the EPS module to the steering column bracket. There are typically two mounting bolts accessible from the side or bottom of the module.
   Torque spec

   Mounting Bolts31 Nm (23 lb-ft)
5. 5

   Remove EPS module from vehicle
   Carefully slide the EPS module off the steering column shaft while supporting its weight. Maneuver the module out from under the dash, being careful not to damage surrounding components or wiring. The module may need to be rotated to clear the dash structure.
   ⚠The module is heavy and awkward to handle in the confined space. Use care to avoid dropping it or striking the instrument panel.
6. 6

   Prepare new EPS module
   Inspect the new EPS module to ensure it matches the original unit. Check that the steering shaft splines are clean and free of debris. Verify that all mounting bolt seals or grommets are in place on the new module.
   ℹ️Some EPS modules may require programming or configuration transfer from the old module before installation.
7. 7

   Install new EPS module
   Maneuver the new EPS module into position under the dash. Align the module with the steering column shaft, ensuring the splines engage properly. Slide the module onto the shaft and align the mounting holes with the column bracket.
   ⚠Ensure the steering wheel remains centered and has not rotated during the replacement process.
8. 8

   Install module mounting bolts
   Install the EPS module mounting bolts finger-tight first to ensure proper alignment. Once both bolts are started, torque them to specification in an alternating pattern.
   Torque spec

   Mounting Bolts31 Nm (23 lb-ft)
9. 9

   Reconnect steering coupling
   Align the coupling marks made during disassembly. Insert the coupling bolt and hand-tighten. Verify the alignment is correct, then torque the coupling bolt to specification.
   ⚠Improper coupling alignment will cause steering pull and premature wear.
   Torque spec

   Coupling Bolt39 Nm (29 lb-ft)
10. 10

    Reconnect electrical connectors
    Connect both electrical connectors to the EPS module, ensuring they click securely into place. Verify each connector is fully seated by gently pulling back on them.
    ℹ️Ensure no wires are pinched or routed incorrectly before proceeding.
11. 11

    Reinstall steering column covers
    Position the upper steering column cover and secure it with the retaining screws. Install the lower column cover and secure with screws. Ensure all clips are properly engaged and the covers fit flush.
    Torque spec

    Cover Screws12 Nm (9 lb-ft)
12. 12

    Perform steering angle sensor calibration
    Reconnect the negative battery cable. Using a compatible scan tool, access the power steering control module and perform the steering angle sensor calibration procedure. Follow the scan tool prompts to complete calibration with the wheels pointed straight ahead.
    ⚠️Failure to calibrate the steering angle sensor will result in steering assist issues, fault codes, and potential safety system malfunctions.

Reassembly

1. Reinstall the front skid plate or underbody shield if equipped
2. Remove jack stands and lower vehicle to ground
3. Remove steering wheel lock or holder
4. Start engine and verify no warning lights are illuminated on the instrument cluster
5. Turn steering wheel slowly lock-to-lock while stationary to verify proper EPS operation

Verification

• Confirm no power steering warning lights or messages are displayed on the instrument cluster
• Verify steering assist is functioning by turning the steering wheel with the engine running - resistance should be minimal
• Test drive the vehicle at low speed in a safe area to confirm normal steering operation and returnability
• Use scan tool to verify no EPS-related fault codes are present
• Confirm steering wheel is centered when driving straight and vehicle does not pull to either side
• Verify all electrical connectors are secure and no loose bolts remain under the dash

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