This procedure covers the removal and replacement of the Electric Power Steering (EPS) module on the 2016-2024 Hyundai Tucson with 2.5L I4 AWD engine.

Warnings

Tools required

Parts

• Electric Power Steering Module × 1 — Use OEM specification
• EPS module mounting bolts (if corroded) × 3 — M8x1.25 bolts

Preparation

1. Park vehicle on level ground and engage parking brake
2. Turn steering wheel to center position and note alignment
3. Turn ignition to OFF position and remove key
4. Disconnect negative battery terminal and wait minimum 3 minutes
5. Allow engine compartment to cool completely if vehicle was recently driven
6. Remove driver-side lower dashboard panel for access to steering column area

Procedure

1. 1

   Access EPS module location
   The EPS module is located on the steering column assembly below the dashboard. Remove the lower steering column cover by removing the cover screws. Carefully lower the cover and disconnect any electrical connectors for lights or switches attached to it.
   Torque spec

   Cover Screws11 Nm (8 lb-ft)
2. 2

   Disconnect EPS module electrical connectors
   Locate the main EPS module connector (large multi-pin connector). Press the release tab and carefully pull the connector straight out from the module. If present, disconnect the secondary ground wire by removing the 10mm bolt. Inspect connector pins for corrosion or damage.
   ⚠Do not pull on wires; grip the connector body only to avoid damaging the harness
3. 3

   Remove torque sensor connector
   Locate the steering torque sensor connector near the EPS module. Press the locking tab and disconnect this connector. This is typically a smaller connector than the main power connector. Mark or photograph connector orientation if connectors appear similar.
   ℹ️Some model years may have an integrated connector; verify your specific configuration before proceeding
4. 4

   Remove EPS module mounting bolts
   Locate the three mounting bolts securing the EPS module to the steering column bracket. Using a 12mm socket, remove all three bolts. Support the module with one hand as you remove the final bolt to prevent it from falling.
   ⚠The module weighs approximately 3-4 kg; ensure proper support before removing final bolt
   Torque spec

   Mounting Bolts27 Nm (20 lb-ft)
5. 5

   Remove EPS module from vehicle
   Carefully maneuver the EPS module away from the steering column. You may need to rotate or angle the module to clear the steering shaft and surrounding components. Once clear, remove the module from the vehicle and place it on a clean, dry workspace.
   ⚠Avoid hitting or bumping the module against hard surfaces during removal
6. 6

   Inspect mounting area and prepare for installation
   Inspect the steering column mounting bracket for damage or excessive corrosion. Clean mounting surfaces with a wire brush if necessary. Verify that the steering shaft splines are clean and undamaged. Check that the steering wheel remains in the centered position.
   ℹ️If steering shaft shows excessive play or wear, further diagnosis may be required before module replacement
7. 7

   Install new EPS module
   Position the new EPS module onto the steering column, aligning the module shaft with the steering column shaft splines. Ensure proper engagement by gently rotating the module while applying light pressure. The module should slide fully into position without force.
   ⚠Misalignment of splines can damage the torque sensor or steering shaft; ensure proper alignment before proceeding
8. 8

   Install and torque mounting bolts
   Insert all three mounting bolts by hand and thread them in at least 3-4 turns to verify proper alignment. Tighten bolts in a star pattern to ensure even seating. Torque all mounting bolts to specification using a torque wrench.
   Torque spec

   Mounting Bolts27 Nm (20 lb-ft)
9. 9

   Reconnect electrical connectors
   Reconnect the torque sensor connector first, ensuring it clicks into place. Then connect the main EPS module connector, pressing firmly until you hear and feel the locking tab engage. If applicable, reconnect the ground wire and tighten the 10mm bolt securely.
   ⚠Verify connectors are fully seated; partial connections will cause EPS malfunction and diagnostic trouble codes
10. 10

    Reinstall steering column covers
    Reconnect any electrical connectors to the lower steering column cover (if applicable). Position the cover back in place and install the cover screws, torquing to specification. Ensure all trim pieces are properly aligned and seated.
    Torque spec

    Cover Screws11 Nm (8 lb-ft)
11. 11

    Reconnect battery and initialize system
    Reconnect the negative battery terminal. Turn the ignition to ON position without starting the engine. The EPS warning light should illuminate briefly then extinguish. If the light remains on, proceed to verification steps.
    ℹ️Some vehicles may require a steering angle sensor calibration using a diagnostic scan tool after EPS module replacement

Reassembly

1. Reinstall driver-side lower dashboard panel if removed during preparation
2. Verify all trim panels and covers are securely fastened
3. Ensure no tools or parts were left in the work area

Verification

• Start the engine and verify the EPS warning light is not illuminated on the instrument cluster
• With the engine running, turn the steering wheel slowly from lock to lock and verify smooth power assist operation with no unusual noises
• Test drive the vehicle at low speed in a safe area to confirm proper steering operation and centering
• Check for diagnostic trouble codes using an OBD-II scanner; clear any stored codes if module was replaced due to failure
• Verify steering wheel returns to center position smoothly after turning
• If EPS warning light remains on or steering feels abnormal, perform steering angle sensor calibration using manufacturer-approved diagnostic equipment

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