This procedure covers the removal and replacement of the steering angle sensor located in the steering column assembly on 2016-2024 Hyundai Tucson AWD models with the 2.5L I4 engine.

Warnings

Tools required

Parts

• Steering angle sensor × 1 — Use OEM specification

Preparation

1. Park vehicle on level ground and set parking brake
2. Turn steering wheel to center position and verify front wheels are straight
3. Turn ignition OFF and remove key completely
4. Wait at least 3 minutes after key removal to allow airbag system capacitors to discharge
5. Disconnect negative battery terminal and isolate cable away from battery post
6. Lower driver's seat to lowest position and tilt steering column to lowest position for maximum access

Procedure

1. 1

   Remove lower steering column covers
   Remove the Phillips head screws securing the lower steering column cover (typically 2-3 screws). Carefully separate the lower cover from the upper cover by releasing any remaining clips. Remove the lower cover and set aside.
   Torque spec

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

   Remove upper steering column cover
   Remove the Phillips head screws securing the upper steering column cover (typically 2-3 screws). Gently pull the upper cover away from the steering column, being careful not to damage the ignition cylinder surround. Set the cover aside.
   Torque spec

   Cover Screws11 Nm (8 lb-ft)
3. 3

   Disconnect steering angle sensor connector
   Locate the steering angle sensor electrical connector on the side of the steering column beneath the covers. Press the locking tab and carefully disconnect the electrical connector. Inspect the connector pins for damage or corrosion.
   ℹ️The connector may have a secondary lock that must be released before the primary tab can be pressed.
4. 4

   Remove steering angle sensor mounting bolts
   Locate the two mounting bolts securing the steering angle sensor to the steering column assembly. Using an appropriate metric socket, remove both mounting bolts completely. Support the sensor as you remove the final bolt to prevent it from falling.
   Torque spec

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

   Remove steering angle sensor
   Carefully slide the steering angle sensor away from the steering column shaft. The sensor typically slides off the column in a forward direction. Note the orientation and positioning of the sensor for proper installation of the replacement unit.
   ⚠Do not rotate the internal components of the old sensor as this may provide incorrect reference for installation positioning.
6. 6

   Install new steering angle sensor
   Position the new steering angle sensor onto the steering column shaft in the same orientation as the original. Ensure the sensor fully engages with the column shaft and is seated completely against the mounting surface. Verify the steering wheel is still centered before proceeding.
   ⚠The sensor must be installed with the steering wheel in the centered position to allow proper calibration.
7. 7

   Install sensor mounting bolts
   Install both steering angle sensor mounting bolts and hand-tighten. Torque the mounting bolts to specification in a cross pattern to ensure even seating of the sensor against the column.
   Torque spec

   Mounting Bolts27 Nm (20 lb-ft)
8. 8

   Reconnect electrical connector
   Reconnect the steering angle sensor electrical connector, ensuring it clicks fully into place. Verify the locking tab is fully engaged and any secondary lock is properly seated.
9. 9

   Reinstall steering column covers
   Position the upper steering column cover and install the retaining screws, torquing to specification. Position the lower steering column cover, ensuring all clips align properly, and install the retaining screws to specification. Verify all cover edges are flush and properly seated.
   Torque spec

   Cover Screws11 Nm (8 lb-ft)
10. 10

    Reconnect battery and initialize systems
    Reconnect the negative battery terminal. Turn the ignition to ON position (do not start engine). Allow all vehicle systems to initialize for approximately 30 seconds. Check for any warning lights on the instrument cluster.
11. 11

    Calibrate steering angle sensor
    Connect an OBD-II scan tool with steering angle sensor calibration capability. Navigate to the steering angle sensor calibration function. With the steering wheel centered and front wheels straight, perform the calibration procedure as directed by the scan tool. This typically involves confirming the steering position and commanding the system to set zero reference.
    ⚠️Failure to properly calibrate the steering angle sensor will result in incorrect operation of electronic stability control, traction control, and lane keeping systems. The vehicle may exhibit unexpected behavior during cornering.

Reassembly

1. Verify all steering column covers are properly secured with no gaps or loose clips
2. Confirm steering wheel rotates smoothly through full range without binding or unusual noise
3. Verify all dashboard warning lights related to steering and stability systems are extinguished after calibration

Verification

• Start the engine and verify no warning lights are illuminated on the instrument cluster, specifically ESC/TCS and steering-related warnings
• Turn the steering wheel slowly from lock to lock while monitoring the scan tool to verify the steering angle sensor is reporting smooth, continuous angle changes
• Perform a test drive at low speed in a safe area, making gentle turns in both directions to verify proper ESC/TCS operation
• Use scan tool to verify steering angle sensor reads 0 degrees (±5 degrees) when steering wheel is centered and vehicle is traveling straight
• Check for any stored diagnostic trouble codes related to steering angle sensor or stability control systems

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