This procedure covers the removal and replacement of the steering angle sensor on a 2024 Rivian EDV 500, including calibration steps required after installation.

Warnings

Tools required

Parts

• Steering angle sensor × 1 — Use OEM specification
• Lower steering column trim clips (as needed) × 1 — Rivian OEM trim clips

Preparation

1. Ensure vehicle is parked on level ground with front wheels in straight-ahead position
2. Verify battery state of charge is above 20% for diagnostic procedures
3. Disconnect 12V auxiliary battery and wait minimum 10 minutes for SRS system discharge
4. Using diagnostic tool, document any existing DTCs related to steering, stability control, or driver assistance systems
5. Take photo of steering wheel position to confirm centered position

Procedure

1. 1

   Secure steering wheel in center position
   With front wheels straight ahead and steering wheel centered, install steering wheel locking pin or holder to prevent any rotation during the procedure. Verify steering wheel horn pad alignment is symmetrical. Mark steering wheel and column position with tape for reference.
2. 2

   Remove lower steering column covers
   Remove lower dashboard trim panel below steering column using trim removal tools. Locate and remove fasteners securing lower steering column cover (typically 3-4 Torx screws). Carefully separate lower column cover from upper cover, disconnecting any electrical connectors for switches or lighting. Set aside covers on protected surface.
3. 3

   Locate steering angle sensor assembly
   The steering angle sensor is located on the steering column below the steering wheel, integrated into or adjacent to the clock spring assembly. Identify the sensor housing and its electrical connector. On EDV models, it is typically a gray or black cylindrical component with a multi-pin connector on the side.
4. 4

   Disconnect steering angle sensor electrical connector
   Locate the connector locking tab on the steering angle sensor harness connector. Press or lift the locking tab while gently pulling the connector straight back from the sensor. Do not pull on wires. If connector is difficult to access, a wire terminal release tool may be needed for secondary locks.
5. 5

   Remove sensor mounting fasteners
   Locate the steering angle sensor mounting screws or clips. Typically there are 2-3 Torx screws (T20 or T25) securing the sensor to the steering column housing. Remove these fasteners and keep them organized. Note the orientation and any alignment marks on the sensor housing.
6. 6

   Remove steering angle sensor
   Carefully slide or lift the steering angle sensor from its mounting position on the steering column. The sensor may have an internal gear engagement with the steering shaft. If resistance is felt, gently rotate the sensor housing slightly while pulling to disengage. Avoid forcing or twisting the steering column shaft.
7. 7

   Inspect mounting area and clock spring
   With sensor removed, inspect the steering column mounting area for any damage, debris, or worn components. Check clock spring condition and verify it is properly centered (reference marks should be aligned). Clean mounting surfaces with electrical contact cleaner if needed. Verify steering column shaft has not rotated by checking wheel lock is still engaged.
8. 8

   Install new steering angle sensor
   Position the new steering angle sensor over the steering column shaft, aligning any indexing features or gear teeth. Ensure the sensor is oriented correctly with connector facing original direction. Gently press sensor into place until it seats fully against the column housing. The sensor must be in the correct rotational position before securing.
9. 9

   Secure sensor and reconnect electrical connector
   Install the mounting screws and tighten in a crossing pattern to ensure even seating. Since no torque specifications are provided, tighten screws firmly but do not over-torque small fasteners into plastic housings. Reconnect the electrical connector, ensuring it clicks into place and locking tab engages fully.
10. 10

    Reinstall steering column covers
    Reconnect any electrical connectors for switches removed with column covers. Position upper and lower steering column covers back onto column, ensuring proper alignment and that no wires are pinched. Install and tighten all cover fasteners. Reinstall lower dashboard trim panel.
11. 11

    Reconnect battery and power up vehicle
    Reconnect the 12V auxiliary battery. Remove steering wheel locking pin or holder. Enter vehicle and power on using brake pedal and power button. Allow all vehicle systems to initialize completely, which may take 30-60 seconds. Multiple warning lights will likely be present on instrument cluster.
12. 12

    Perform steering angle sensor calibration
    Connect Rivian diagnostic tool to vehicle OBD-II port. Navigate to steering system calibration menu. Select 'Steering Angle Sensor Calibration' procedure. Follow on-screen prompts which typically include: verify wheels straight ahead, verify steering wheel centered, initiate calibration routine. The system will learn sensor center position. Calibration should complete within 2-3 minutes.
    ⚠Do not move steering wheel during calibration procedure. Movement will cause calibration failure and require restart.
13. 13

    Clear diagnostic trouble codes
    Using diagnostic tool, clear all DTCs related to steering angle sensor, electronic stability control, and driver assistance systems. Cycle vehicle power off and back on. Verify no DTCs return after power cycle. If codes return immediately, recheck sensor installation and connector engagement.

Reassembly

1. Verify all steering column trim panels are securely fastened with no gaps or rattles
2. Confirm all dashboard trim pieces are properly seated and clips engaged
3. Ensure no tools or parts were left in steering column area

Verification

• Start vehicle and verify steering angle sensor DTC is not present in any control modules
• Verify stability control, lane keep assist, and driver assistance system warning lights extinguish after initialization
• Turn steering wheel slowly lock-to-lock while stationary and verify smooth operation with no binding
• Using diagnostic tool, monitor steering angle sensor output in real-time: should read 0° with wheel centered, and change smoothly through full range (-780° to +780° typical)
• Perform test drive at low speed in safe area, making both left and right turns to verify stability control and driver assistance systems function normally
• After test drive, recheck for any new DTCs and verify steering angle sensor calibration remains centered

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