This procedure covers the removal and replacement of the electric power steering motor on a 2025 Rivian EDV 500 commercial delivery van equipped with dual motor AWD.

Warnings

Tools required

Parts

• Electric power steering motor assembly × 1 — Use OEM specification
• Power steering motor wiring harness connector seal × 1 — Use OEM specification
• Steering column mounting gasket × 1 — Use OEM specification
• Motor mounting bolts (if reuse not permitted) × 4 — Use OEM specification

Preparation

1. Park vehicle on level surface and engage parking brake
2. Ensure front wheels are in straight-ahead position and note steering wheel position
3. Disconnect 12V auxiliary battery negative terminal and wait 2 minutes
4. Disconnect high voltage battery using service disconnect located in front trunk area per Rivian service manual procedures
5. Wait minimum 5 minutes for high voltage capacitors to discharge
6. Verify zero voltage at high voltage terminals using insulated multimeter
7. Remove front lower driver-side access panel to access steering column area
8. Document all electrical connector positions with photos before disconnection

Procedure

1. 1

   Access steering column compartment
   Remove the lower dashboard trim panel on driver side by releasing plastic retaining clips. Remove knee bolster panel by removing four Torx screws. Carefully disconnect any electrical connectors for lighting or sensors attached to removed panels.
2. 2

   Disconnect steering column electrical connectors
   Locate the main steering column wiring harness. Release the locking tab on the primary steering position sensor connector (gray connector) and disconnect. Release the secondary steering angle sensor connector (black connector) and disconnect. Label all connectors for proper reinstallation.
3. 3

   Disconnect power steering motor electrical connector
   Locate the electric power steering motor mounted on the steering column intermediate shaft. The motor has a large multi-pin connector with orange high-voltage identification. Release the connector lock mechanism by sliding the red safety tab away from connector, then pressing the release button while pulling connector straight out. Do not twist or bend connector during removal.
4. 4

   Remove wiring harness routing brackets
   Remove three wiring harness support brackets that secure the power steering motor wiring to the steering column. Use appropriate socket to remove bracket bolts. Note routing path of harness for reinstallation.
5. 5

   Mark steering shaft alignment
   Using paint marker or scribe, mark the relationship between the steering column intermediate shaft and the power steering motor input shaft. This ensures proper alignment during reassembly and maintains steering wheel center position.
6. 6

   Remove steering shaft coupling bolt
   Locate the pinch bolt on the universal joint coupling that connects the steering column to the power steering motor input shaft. Remove the pinch bolt completely. Use penetrating oil if bolt is corroded. Carefully spread the coupling slot slightly with a small pry bar to release tension on shaft.
7. 7

   Remove power steering motor mounting bolts
   Remove the four mounting bolts that secure the electric power steering motor assembly to the steering column mounting bracket. Support the weight of the motor assembly while removing the final bolt to prevent it from falling.
8. 8

   Remove electric power steering motor assembly
   Carefully slide the power steering motor assembly away from the steering column, ensuring the intermediate shaft separates from the motor input shaft. The motor is heavy (approximately 15-20 lbs), so support it properly. Maneuver the assembly out through the access area, being careful not to damage surrounding components or wiring.
9. 9

   Inspect mounting surfaces and connections
   Inspect the steering column mounting surface for damage or wear. Check the intermediate shaft splines for damage or excessive wear. Inspect the electrical connector on the vehicle harness for corrosion, damaged pins, or debris. Clean mounting surfaces with wire brush if necessary. Inspect motor input shaft on new motor for any shipping damage.
10. 10

    Install new power steering motor assembly
    Position the new electric power steering motor assembly to the steering column, aligning the motor input shaft with the intermediate shaft while matching the alignment marks made during disassembly. Ensure proper engagement of shaft splines. Install the four mounting bolts finger-tight, then tighten in a cross pattern to ensure even seating of the motor housing. Note: Torque specifications not provided in database - refer to Rivian service manual for proper values.
11. 11

    Install steering shaft coupling bolt
    Install the pinch bolt through the universal joint coupling, ensuring it passes through the shaft detent or flattened area. Tighten bolt to specification per Rivian service manual. Verify coupling is fully seated with no gap between shaft and coupling.
12. 12

    Reconnect electrical connectors
    Reconnect the power steering motor main electrical connector by aligning connector and pushing firmly until it clicks into place. Slide the red safety lock into locked position. Reconnect the steering position sensor connectors (gray and black) to their respective locations on the steering column. Ensure all connector locks are fully engaged.
13. 13

    Reinstall wiring harness brackets and trim panels
    Reinstall the three wiring harness support brackets along the steering column, routing the harness in the original path. Reinstall the knee bolster panel and lower dashboard trim panel, ensuring all clips and screws are properly secured. Reconnect any electrical connectors for lighting or sensors.
14. 14

    Reconnect vehicle batteries and perform system initialization
    Reconnect the high voltage battery service disconnect in the front trunk. Reconnect the 12V auxiliary battery negative terminal. Turn vehicle to ON position (do not start). The power steering system will perform a self-test and may cycle the motor. Do not turn the steering wheel during this initialization period.
15. 15

    Perform steering system calibration
    Connect Rivian diagnostic tool to vehicle OBD2 port. Navigate to steering system module and initiate power steering motor calibration procedure. Follow all on-screen prompts which typically include turning steering wheel to full lock positions. Complete the calibration sequence and verify no diagnostic trouble codes are present.

Reassembly

1. Ensure all electrical connectors are fully seated with locking tabs engaged
2. Verify steering shaft coupling pinch bolt is properly torqued and secure
3. Confirm all dashboard trim panels are properly clipped and secured with no rattles
4. Verify wiring harness is properly routed and secured away from moving steering components

Verification

• Turn vehicle to ON position and verify power steering warning light extinguishes after initialization
• With vehicle stationary and in ON position, turn steering wheel slowly through full range of motion and verify smooth assist with no binding, unusual noises, or warning lights
• Perform a low-speed test drive in a safe area and verify proper steering assist at various speeds and turning angles
• Verify steering wheel returns to center position smoothly after turning
• Use diagnostic tool to verify no active or pending fault codes in the steering system module
• Confirm steering angle sensor reading matches actual steering wheel position using diagnostic tool
• Verify proper operation of steering-related safety systems such as lane keeping assist if equipped

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