This procedure covers the removal and replacement of the electric power steering motor on a 2024 Rivian EDV 500 delivery van.

Warnings

Tools required

Parts

• Electric power steering motor assembly × 1 — Use OEM specification
• Steering motor mounting bolts (if corroded) × 1 — Use OEM specification
• Electrical connector seal (if damaged) × 1 — Use OEM specification

Preparation

1. Park vehicle on level ground and engage parking brake
2. Turn steering wheel to center the front wheels in straight-ahead position
3. Turn off vehicle completely and wait 2 minutes for systems to shut down
4. Open front hood and disconnect 12V battery negative terminal using 10mm socket
5. Wait 5 minutes for all electrical systems to discharge
6. Access vehicle settings through center display (if still powered by 12V backup) or use Rivian app to place high-voltage system in service mode
7. Mark the steering wheel position with tape to ensure centered position is maintained

Procedure

1. 1

   Remove lower dash panel
   Enter driver's side footwell. Locate and remove the lower dash trim panel beneath the steering column. Remove the plastic trim clips and T20 Torx screws securing the panel. Carefully pull the panel away to avoid breaking clips. Disconnect any electrical connectors for footwell lighting if equipped.
2. 2

   Disconnect steering column electrical connectors
   Locate the main steering column wiring harness. Identify the electric power steering motor connector (large multi-pin connector with locking tab). Press the locking tab and carefully disconnect the connector. Tag or photograph connector orientation for reassembly.
3. 3

   Remove steering column covers
   Remove the upper and lower steering column shrouds by releasing the T25 Torx screws (typically 4-6 screws). Separate the two halves of the column cover and set aside. Be careful not to damage the turn signal stalks or wiper controls during removal.
4. 4

   Access steering motor mounting area
   With column covers removed, locate the electric power steering motor mounted to the steering column assembly. It will be positioned on the side of the column with a worm gear connection to the steering shaft. Clear any wire harness clips or ties that may restrict access.
5. 5

   Document motor position and alignment
   Before removing any fasteners, take photos of the motor position, alignment marks, and any timing or alignment indicators on the motor housing and steering column. Note the position of any shims or spacers. This documentation is critical for proper reinstallation.
6. 6

   Remove steering motor mounting bolts
   Locate the mounting bolts securing the electric power steering motor to the steering column (typically 3-4 bolts, 13mm or 15mm). Support the motor with one hand while removing the bolts with the other. Remove bolts in a cross pattern to prevent binding. Keep track of any washers, shims, or spacers.
7. 7

   Disengage motor from steering column
   With mounting bolts removed, carefully pull the steering motor away from the steering column. The motor worm gear will disengage from the steering shaft gear. Pull straight out to avoid damaging the gear teeth. If resistance is felt, verify all mounting bolts are removed and gently rock the motor while pulling.
8. 8

   Remove old steering motor
   Once disengaged, carefully maneuver the old steering motor out from behind the steering column. It may be necessary to angle or rotate the motor to clear surrounding components. Set the old motor aside on a clean surface for comparison with the new unit.
9. 9

   Inspect mounting area and clean surfaces
   Inspect the steering column mounting surface and gear for any damage, wear, or debris. Clean the mounting surface with a wire brush and shop rag. Inspect the steering shaft gear for damaged teeth or excessive wear. Clean any debris from the gear teeth. Verify the steering column is still in the centered position.
10. 10

    Prepare new steering motor
    Unpack the new electric power steering motor and verify it matches the old unit. Check that all mounting holes align and the connector type is identical. Inspect the motor worm gear for any shipping damage or debris. Clean the motor mounting surface and gear teeth with electrical contact cleaner if necessary.
11. 11

    Install new steering motor
    Carefully position the new steering motor near the steering column. Align the motor worm gear with the steering shaft gear, ensuring proper engagement. The gears should mesh smoothly without forcing. Position the motor so mounting holes align with the steering column. Install any shims or spacers that were present on the original motor.
12. 12

    Secure motor mounting bolts
    Install the steering motor mounting bolts and hand-tighten in a cross pattern. Verify the motor is fully seated and aligned properly before final tightening. Since no specific torque values are provided in the database, tighten bolts firmly and evenly, checking that the motor does not shift or have any play. Typical steering motor mounting bolts require moderate torque (approximately 15-25 ft-lbs on similar vehicles, but follow service manual specifications).
13. 13

    Reconnect electrical connector
    Route the steering motor electrical connector back to its original position. Align the connector pins carefully and push the connector together until the locking tab clicks into place. Gently tug on the connector to verify it is fully locked. Secure any wire harness clips or ties that were removed.
14. 14

    Reinstall steering column covers
    Position the lower steering column shroud around the column, ensuring all wiring is properly routed and not pinched. Install the upper shroud and align the two halves. Install and tighten all T25 Torx screws. Verify the column covers do not interfere with steering wheel movement or control stalks.
15. 15

    Reinstall lower dash panel
    Reconnect any electrical connectors for footwell lighting. Position the lower dash trim panel and secure with all trim clips and T20 Torx screws. Ensure the panel is fully seated and all clips are engaged properly.

Reassembly

1. Reconnect the 12V battery negative terminal and tighten securely with 10mm socket
2. Exit high-voltage service mode through vehicle settings or Rivian app
3. All trim panels and covers should be reinstalled with no gaps or rattles
4. Verify steering wheel is still centered and tape alignment marks match

Verification

• Turn on the vehicle and verify no warning lights or error messages appear on the instrument cluster
• Connect Rivian diagnostic tool and perform steering angle sensor calibration procedure (this step is mandatory and cannot be skipped)
• Clear any stored fault codes related to the steering system
• With vehicle still stationary, turn the steering wheel slowly from lock to lock and verify smooth operation with no binding, clicking, or unusual noises
• Verify power steering assist is functioning by turning the wheel with the vehicle running versus with the vehicle off - there should be a noticeable difference in effort
• Test drive the vehicle in a safe area and verify proper steering assist at various speeds
• Verify steering returns to center smoothly and there is no pulling or wandering
• Check for any warning lights or error messages after test drive
• Re-verify all mounting bolts are secure and no fasteners were left loose

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