This procedure covers the removal and replacement of the steering angle sensor on a 2025 Rivian EDV 500 delivery van, including sensor calibration and system verification.

Warnings

Tools required

Parts

• Steering angle sensor assembly × 1 — Use OEM Rivian specification
• Steering column trim clips (if damaged) × 1 — Use OEM specification

Preparation

1. Position vehicle on level surface and set parking brake
2. Turn steering wheel to center position with front wheels pointed straight ahead
3. Verify ignition is OFF and key fob is removed from vehicle interior
4. Disconnect 12V auxiliary battery negative terminal and wait 3 minutes for system capacitor discharge
5. Lock steering wheel in center position using steering wheel holder or tape to prevent rotation
6. Document any active diagnostic trouble codes using scan tool before beginning work

Procedure

1. 1

   Remove lower steering column covers
   Remove the lower dash panel below the steering column by releasing the retaining clips. Remove the lower steering column cover by removing the Torx screws (typically T20 or T25) and carefully separating the cover halves. Work carefully around the ignition switch area and any integrated trim pieces.
2. 2

   Remove upper steering column cover
   Remove the upper steering column cover by releasing the retaining tabs and removing any remaining Torx screws. On the EDV 500, this cover may integrate with the instrument cluster shroud. Carefully disconnect any electrical connectors for column-mounted switches if necessary to fully remove the cover.
3. 3

   Locate steering angle sensor
   Identify the steering angle sensor assembly mounted on the steering column beneath the covers. The sensor is typically located on the lower portion of the column near the universal joint. It will have an electrical connector and is mounted with 2-3 fasteners to the column housing.
4. 4

   Disconnect sensor electrical connector
   Locate the electrical connector on the steering angle sensor. Press the locking tab and carefully disconnect the wiring harness from the sensor. Note the connector orientation and routing of the wire harness for reinstallation. Check connector pins for damage or corrosion.
5. 5

   Remove sensor mounting fasteners
   Remove the mounting bolts or screws securing the steering angle sensor to the steering column. These are typically 8mm or 10mm bolts or T30 Torx screws. Keep track of any spacers or alignment washers that may be present. Note the sensor orientation before removal.
6. 6

   Remove steering angle sensor
   Carefully slide the steering angle sensor off the steering shaft or column. The sensor may have internal gears or optical sensors that engage with the steering shaft. Do not force the sensor; it should remove easily once fasteners are released. Inspect the mounting area and sensor engagement points for wear or damage.
7. 7

   Prepare new sensor for installation
   Remove the new steering angle sensor from its packaging. Verify part number matches the original sensor. Check that any protective covers or transit locks are removed. Do not rotate the sensor's internal mechanism unless instructed by the manufacturer's installation procedures.
8. 8

   Install new steering angle sensor
   Align the new steering angle sensor with the steering column shaft, ensuring proper engagement of any gears or sensing elements. Verify the sensor is oriented correctly to match the removal position. Slide the sensor fully into position on the column.
9. 9

   Install sensor mounting fasteners
   Install the mounting bolts or screws and tighten in a cross pattern to ensure even seating. Since no torque specifications are provided in the database, tighten fasteners snugly without over-torquing the plastic or aluminum sensor housing. Verify the sensor is secure and does not rotate on the column.
10. 10

    Reconnect electrical connector
    Reconnect the wiring harness to the steering angle sensor, ensuring the connector locks fully into place with an audible click. Verify the connector is properly seated and the locking tab is engaged. Route the wire harness to prevent interference with steering column movement.
11. 11

    Reinstall steering column covers
    Reinstall the upper and lower steering column covers in reverse order of removal. Ensure all retaining clips and Torx screws are properly installed. Verify no wiring is pinched between cover halves and that all trim pieces fit flush without gaps.
12. 12

    Reconnect auxiliary battery
    Reconnect the 12V auxiliary battery negative terminal. Ensure connection is clean and tight. Do not turn on the ignition yet. Allow vehicle systems to initialize for approximately 30 seconds.
13. 13

    Perform steering angle sensor calibration
    Connect the Rivian diagnostic scan tool to the OBD-II port. Power on the vehicle to RUN/ON position without activating drive mode. Navigate to the steering angle sensor calibration procedure in the scan tool software. Verify front wheels remain in straight-ahead position. Follow the on-screen prompts to complete the calibration procedure, which typically involves confirming wheel position and allowing the system to zero the sensor.

Reassembly

1. Verify all steering column trim panels are properly secured and aligned
2. Confirm steering wheel rotates freely through full range without binding or unusual noises
3. Check that all column-mounted controls (turn signals, wipers, etc.) function properly
4. Ensure no diagnostic trouble codes are present after calibration

Verification

• Start the vehicle and verify no warning lights related to steering, stability control, or driver assistance systems are illuminated
• Using the scan tool, verify steering angle sensor is reading correctly and showing live data at 0 degrees with wheels straight ahead
• Perform a slow-speed test drive in a safe area, turning the steering wheel lock-to-lock to verify sensor operation throughout full range
• Verify electronic stability control (ESC), lane keeping assist, and other driver assistance systems that rely on steering angle data are functioning properly
• Confirm no diagnostic trouble codes are present after test drive and all systems complete self-diagnostics successfully

More procedures for this vehicle