This procedure covers the removal and replacement of the steering angle sensor on a 2023 Rivian EDV 500 Dual Motor AWD electric delivery van, including calibration procedures.

Warnings

Tools required

Parts

• Steering angle sensor × 1 — Use OEM Rivian specification
• Steering column connector retaining clip (if damaged) × 1 — Use OEM specification

Preparation

1. Park vehicle on level ground and set parking brake
2. Turn off vehicle and remove key fob from cabin
3. Disconnect 12V battery negative terminal and wait 3 minutes for system capacitors to discharge
4. Verify high voltage battery is properly isolated per Rivian service procedures
5. Ensure front wheels are in straight-ahead position and steering wheel is centered
6. Document current steering angle sensor values using diagnostic tool before removal

Procedure

1. 1

   Remove lower steering column trim panels
   Remove the lower dashboard trim panel below the steering column using trim removal tools. Start at the bottom edge and work upward to release the retaining clips. Remove the two T25 Torx screws securing the lower steering column cover and carefully pull the cover downward to disengage the upper tabs. Set aside the covers in a clean area.
2. 2

   Disconnect steering column electrical connectors
   Locate the main steering column wiring harness. Press the release tab on the combination switch connector and disconnect it. Disconnect the steering column position sensor connector by sliding the red secondary lock outward, then pressing the primary connector release tab. Label connectors if necessary for reassembly reference.
3. 3

   Access steering angle sensor mounting area
   Identify the steering angle sensor mounted on the steering column shaft below the combination switches. The sensor is a circular unit with a single electrical connector and typically three mounting fasteners. Note the orientation of the sensor and any alignment marks on the housing.
4. 4

   Disconnect steering angle sensor connector
   Locate the steering angle sensor electrical connector. Slide the connector position assurance (CPA) lock to the unlock position, typically by pulling it outward or upward depending on connector type. Press the connector release tab and carefully pull the connector straight off the sensor. Avoid pulling on the wires themselves.
5. 5

   Remove steering angle sensor mounting fasteners
   Remove the three T30 Torx screws securing the steering angle sensor to the steering column. Keep track of any washers or spacers. Support the sensor as you remove the final fastener to prevent it from falling.
6. 6

   Remove steering angle sensor from column
   Carefully slide the steering angle sensor off the steering shaft. The sensor may have internal splines or gears that need to be aligned during removal. Note the exact position and orientation of any alignment marks or notches. Do not rotate the steering wheel or shaft during sensor removal.
7. 7

   Inspect steering column shaft and mounting area
   Examine the steering column shaft for any wear, damage, or debris where the sensor mounts. Check the splines or drive mechanism for damage. Clean the mounting surface with a lint-free cloth if necessary. Inspect the wiring harness routing and ensure no wires are pinched or damaged.
8. 8

   Install new steering angle sensor
   With the steering wheel still centered and locked in position, align the new steering angle sensor with the steering column shaft. Ensure any internal splines, gears, or alignment features properly engage. The sensor should slide onto the shaft smoothly without forcing. Verify the sensor housing alignment marks match the column reference marks if present.
9. 9

   Install sensor mounting fasteners
   Install the three T30 Torx mounting screws through the sensor housing into the steering column. Start all three screws by hand before tightening. Tighten the screws in a cross pattern to ensure even seating. Tighten screws snugly but do not over-torque the plastic or aluminum housing.
10. 10

    Reconnect steering angle sensor connector
    Connect the electrical connector to the steering angle sensor by aligning the connector and pushing firmly until you hear or feel a click. Ensure the connector is fully seated. Lock the connector position assurance (CPA) device by sliding it back into the locked position.
11. 11

    Reconnect remaining electrical connectors
    Reconnect the steering column position sensor and combination switch connectors that were removed earlier. Ensure all secondary locks are properly engaged. Verify all connectors are fully seated and secured.
12. 12

    Reinstall steering column trim panels
    Position the lower steering column cover back onto the column, engaging the upper tabs first, then pressing the lower portion into place. Install the two T25 Torx screws. Reinstall the lower dashboard trim panel by aligning the retaining clips and pressing firmly until all clips are engaged. Verify all panels are properly seated with no gaps.
13. 13

    Reconnect 12V battery and initialize systems
    Reconnect the 12V battery negative terminal. Verify the high voltage system remains properly isolated per Rivian procedures. Turn the vehicle to the ON position (do not start drive mode yet) and allow all systems to initialize. Check for any warning lights on the instrument cluster related to steering, ESC, or traction control.
14. 14

    Perform steering angle sensor calibration
    Connect the Rivian diagnostic scan tool to the vehicle's OBD-II port. Navigate to the steering angle sensor calibration procedure in the diagnostic software. Follow the on-screen prompts to calibrate the sensor, which typically involves confirming the steering wheel is centered and executing the calibration routine. The procedure may require turning the steering wheel lock-to-lock or driving the vehicle in specific patterns.
15. 15

    Clear diagnostic trouble codes and verify operation
    After successful calibration, clear any diagnostic trouble codes (DTCs) related to the steering angle sensor. Verify the steering angle sensor reading shows 0 degrees (or within ±5 degrees) with the steering wheel centered. Test all steering-related systems including lane keeping assist, ESC, and traction control through the diagnostic tool active tests if available.

Reassembly

1. Ensure all trim panels are properly secured with no rattles or loose clips
2. Verify all electrical connectors are fully seated and locked with secondary position assurance devices engaged
3. Confirm steering wheel remains centered and aligned with the front wheels in straight-ahead position
4. Document completion of steering angle sensor calibration for vehicle service records

Verification

• With vehicle in ON mode, verify no warning lights are illuminated on the instrument cluster related to steering, ESC, ABS, or traction control systems
• Using diagnostic scan tool, verify steering angle sensor reads 0 degrees (±5 degrees tolerance) with steering wheel centered
• Perform a test drive and verify proper operation of traction control, ESC, and any active safety systems such as lane keeping assist
• Turn steering wheel slowly from lock to lock while monitoring scan tool data and verify smooth, linear steering angle readings throughout full range with no dropouts or erratic behavior
• Verify electric power steering operates normally with no unusual noises or assist issues
• Confirm all steering-related DTCs remain cleared after test drive

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