This procedure covers the removal and replacement of the lateral arm (control arm) on the 2023 Rivian EDV 500 dual motor AWD electric delivery van.

Warnings

Tools required

Parts

• Lateral arm (control arm) × 1 — Use OEM specification
• Lateral arm mounting bolts × 2 — Use OEM specification
• Ball joint nut × 1 — Use OEM specification
• Thread locking compound × 1 — Loctite 243 or equivalent

Preparation

1. Park vehicle on level surface and engage parking brake
2. Place wheel chocks on the wheels opposite to the side being worked on
3. Disconnect 12V auxiliary battery negative terminal and wait 2 minutes for system discharge
4. Loosen wheel lug nuts while vehicle is still on ground
5. Raise vehicle on lift or jack stands at manufacturer-specified lift points
6. Remove wheel and tire assembly from affected side
7. Inspect lateral arm mounting points for corrosion or damage
8. Take photos of component orientation for reference during reassembly

Procedure

1. 1

   Support suspension assembly
   Position a jack stand or transmission jack under the lower suspension knuckle assembly to support the weight of the suspension components. Raise slightly to relieve tension on the lateral arm but do not lift the vehicle frame. This prevents the suspension from dropping when the arm is disconnected.
2. 2

   Remove wheel speed sensor clip
   Locate the wheel speed sensor wire routing along the lateral arm. Carefully unclip or unbolt the sensor wire bracket from the lateral arm to prevent damage during removal. Use care not to damage the sensor wire insulation.
3. 3

   Remove ball joint nut
   Locate the ball joint connection at the outer end of the lateral arm where it connects to the steering knuckle. Remove the cotter pin if present. Using an 18mm or 21mm socket, remove the ball joint castle nut. Do not fully remove yet if the joint is still under tension.
4. 4

   Separate ball joint from knuckle
   Insert a ball joint separator tool between the lateral arm and steering knuckle. Strike the tool firmly or use a press-type separator to break the taper fit. Alternatively, support the knuckle and strike the knuckle boss sharply with a hammer while maintaining upward pressure on the arm. The ball joint should pop free from the knuckle taper.
5. 5

   Mark cam bolt positions
   At the frame mounting end of the lateral arm, identify the alignment cam bolts or eccentric bolts used for alignment adjustment. Use a paint pen or marker to mark the exact position of the cam adjusters relative to the mounting bracket before removal. This preserves the existing alignment settings.
6. 6

   Remove front mounting bolt
   Using a 21mm socket and wrench, remove the front lateral arm mounting bolt that secures the arm to the subframe or suspension crossmember. Support the arm as the bolt is removed to prevent it from dropping. Note the orientation of any washers or spacers.
7. 7

   Remove rear mounting bolt
   Remove the rear lateral arm mounting bolt using the appropriate socket size. On EDV models, this may be a cam bolt or eccentric bolt for alignment adjustment. Keep all washers, spacers, and alignment components organized in order of removal.
8. 8

   Remove lateral arm assembly
   With both mounting bolts removed and ball joint disconnected, carefully maneuver the lateral arm out of the vehicle. It may be necessary to rotate or angle the arm to clear suspension components, brake lines, or wheel well openings. Inspect the removed arm for wear, cracks, or bushing deterioration.
9. 9

   Inspect mounting points and bushings
   Clean all mounting surfaces on the subframe and knuckle using a wire brush. Inspect the mounting bore in the subframe for elongation or damage. Check the ball joint taper seat in the knuckle for damage or wear. Replace components as necessary before installing the new lateral arm.
10. 10

    Install new lateral arm
    Position the new lateral arm into the vehicle, aligning the bushing ends with the subframe mounting points. Insert the mounting bolts hand-tight only at this stage. Ensure any alignment marks are approximately aligned with the marks made during disassembly.
11. 11

    Connect ball joint to knuckle
    Raise or lower the suspension support jack to align the ball joint stud with the taper hole in the steering knuckle. Insert the stud fully into the knuckle taper. Install the new ball joint castle nut and tighten finger-tight only. Do not torque yet as the suspension must be at ride height.
12. 12

    Position suspension at ride height
    Adjust the support jack under the suspension to position the suspension at normal ride height (approximately where it sits with the vehicle on the ground). This is critical because control arm bushings must be torqued at ride height to prevent premature bushing failure.
13. 13

    Torque mounting bolts and ball joint
    With suspension at ride height, torque the lateral arm mounting bolts to manufacturer specifications. Torque the ball joint nut to specification and install a new cotter pin. Since specific torque values are not provided in the database, consult the Rivian service manual or dealership for proper torque specifications. Apply thread locking compound to fasteners as specified.
14. 14

    Reattach sensor wire and verify clearances
    Reinstall the wheel speed sensor wire bracket to the lateral arm. Verify all wiring has proper clearance and will not contact the tire or suspension components through full range of motion. Cycle the suspension and steering through full travel to check for interference.

Reassembly

1. Reinstall wheel and tire assembly, torquing lug nuts in star pattern to manufacturer specification
2. Lower vehicle to ground and perform final lug nut torque check
3. Reconnect 12V auxiliary battery negative terminal
4. Clear any fault codes using diagnostic tool if necessary
5. Remove wheel chocks

Verification

• Perform a visual inspection to ensure all fasteners are tight and properly secured
• Verify wheel speed sensor is functioning by checking for ABS warning lights on instrument cluster
• Road test vehicle at low speed in a safe area, listening for unusual noises from the suspension
• Check for proper steering response and straight-line tracking
• Schedule a professional four-wheel alignment immediately, as lateral arm replacement will alter alignment settings
• After 50-100 miles, re-torque all lateral arm fasteners and inspect for any looseness or unusual wear

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