This procedure covers the removal and replacement of the steering angle sensor on a 2022 Rivian EDV 500 delivery van, including recalibration of the electronic power steering system.

Warnings

Tools required

Parts

• Steering angle sensor × 1 — Use OEM specification
• Steering column lower cover clips (as needed) × 4 — Use OEM specification

Preparation

1. Park vehicle on level surface and engage parking brake
2. Center the steering wheel and ensure front wheels are pointed straight ahead
3. Document steering wheel position with tape or marking for reference
4. Disable high voltage system following Rivian service procedures (power off vehicle, wait 5 minutes for capacitor discharge)
5. Disconnect 12V negative battery terminal and wait 2 minutes for airbag system discharge
6. Reconnect 12V battery (required for sensor installation, but HV system remains disabled)
7. Ensure you have current steering angle sensor calibration procedure for Rivian EDV platform

Procedure

1. 1

   Remove lower steering column covers
   Using trim panel tools, carefully release the clips securing the lower steering column cover. Remove T30 Torx screws (typically 2-3) from the lower cover. Separate the lower cover from the steering column and set aside. If present, remove the upper column cover by releasing its clips.
2. 2

   Access steering angle sensor
   Locate the steering angle sensor module on the steering column, typically positioned just below the steering wheel near the column shaft. The sensor is usually a circular or rectangular module with a wiring harness connector. Note the orientation and routing of all wiring before proceeding.
3. 3

   Disconnect sensor electrical connector
   Press the locking tab on the steering angle sensor electrical connector and carefully pull the connector straight off the sensor. On Rivian EDV models, there may be a secondary CAN bus connector; disconnect this as well if present. Inspect connector pins for damage or corrosion.
4. 4

   Document sensor position
   Before removing the sensor, note its exact rotational position relative to the steering column. Some sensors have alignment marks or tabs. Take a photo for reference. Verify the steering wheel is still centered and has not been moved.
5. 5

   Remove steering angle sensor mounting fasteners
   Remove the fasteners securing the steering angle sensor to the steering column. These are typically 10mm bolts or T30 Torx screws (usually 3-4 fasteners). Keep all hardware organized for reinstallation. Note: Some sensors may use a clamp-style mount with a single bolt.
6. 6

   Remove steering angle sensor
   Carefully slide the steering angle sensor off the steering column shaft. The sensor may be a slip-on collar type or may require slight rotation to disengage. Do not force the sensor. If resistance is encountered, verify all fasteners have been removed. Set the old sensor aside.
7. 7

   Prepare new steering angle sensor
   Remove the new steering angle sensor from packaging. Verify it matches the original sensor design and connector type. Check that the sensor is in its neutral/centered position (consult manufacturer instructions). Some sensors have a locking pin or tab that must be removed after installation.
8. 8

   Install new steering angle sensor
   Slide the new steering angle sensor onto the steering column shaft, ensuring it is properly aligned with the steering column splines or mounting features. Match the orientation noted during removal. Ensure the sensor seats fully against the column mounting surface without binding.
9. 9

   Install sensor mounting fasteners
   Install the steering angle sensor mounting fasteners finger-tight first to ensure proper alignment. Once confirmed, tighten fasteners in a cross-pattern to ensure even seating. Tighten to manufacturer specification (if available) or snug plus 1/8 turn. Verify sensor does not rotate on the column.
10. 10

    Reconnect electrical connectors
    Reconnect the steering angle sensor electrical connector, ensuring it clicks into place securely. If a secondary CAN bus connector is present, reconnect it as well. Verify connector locks are fully engaged. Route wiring to match original path and secure with cable ties if needed to prevent chafing.
11. 11

    Reinstall steering column covers
    Reinstall the upper steering column cover (if removed) by aligning and pressing clips into place. Position the lower steering column cover and secure with T30 Torx screws. Ensure all clips are fully engaged and covers fit flush without gaps. Verify no wiring is pinched.
12. 12

    Clear diagnostic codes
    Connect the diagnostic scan tool to the vehicle's OBD-II port. Power on the vehicle to accessory mode (do not enable HV system yet). Clear all steering angle sensor and ADAS-related diagnostic trouble codes from all modules. Record any codes that were present before clearing.
13. 13

    Perform steering angle sensor calibration
    Using the diagnostic scan tool, navigate to the steering angle sensor calibration procedure for the Rivian EDV platform. Follow the on-screen prompts, which typically include: verify steering wheel is centered, initiate calibration, turn steering wheel lock-to-lock as instructed, return to center, and complete calibration. This process may take 2-5 minutes.
14. 14

    Verify sensor operation
    With the scan tool connected, monitor live data from the steering angle sensor. Slowly rotate the steering wheel left and right while observing the sensor output. Verify smooth operation, correct direction indication, and accurate return to zero degrees at center. Check for any intermittent signal loss or erratic readings.

Reassembly

1. Ensure all steering column covers are properly secured and all fasteners are tight
2. Re-enable the high voltage system following Rivian procedures once all work is complete
3. Remove any tape or markings used for wheel alignment reference

Verification

• Start the vehicle and verify no steering angle sensor warning lights are illuminated on the instrument cluster
• Verify all ADAS features are operational: lane keeping assist, electronic stability control, traction control
• Perform a test drive at low speed in a safe area, making gentle turns to verify proper steering feel and response
• Use diagnostic scan tool to verify no active or pending codes related to steering angle sensor or ADAS systems
• Confirm steering wheel returns to center properly and vehicle tracks straight with hands-off steering on level road
• Re-check all diagnostic systems 24 hours after repair to ensure no delayed fault codes appear

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