Replace the steering angle sensor located in the steering column to restore proper vehicle stability control and steering wheel position monitoring.

Warnings

Tools required

Parts

• Steering angle sensor assembly × 1 — Use OEM specification

Preparation

1. Park vehicle on level ground with wheels pointing straight ahead
2. Turn ignition off and remove key
3. Disconnect negative battery terminal and wait 90 seconds minimum
4. Ensure steering wheel is perfectly centered
5. Lock steering wheel with wheel in straight-ahead position

Procedure

1. 1

   Remove lower steering column covers
   Remove the two cover screws from the lower steering column cover. Carefully pull the lower cover away from the column, then remove the upper cover by releasing the retaining clips.
   Torque spec

   Cover Screws11 Nm (8 lb-ft)
2. 2

   Locate steering angle sensor
   Identify the steering angle sensor mounted on the steering column below the airbag spiral cable. It is a circular component with an electrical connector on the side.
   ⚠Do not rotate steering wheel or disturb spiral cable while covers are removed
3. 3

   Disconnect sensor electrical connector
   Press the locking tab on the steering angle sensor electrical connector and carefully pull the connector straight out from the sensor body. Note the orientation and routing of the wiring harness.
4. 4

   Remove sensor mounting hardware
   Remove the sensor mounting bolts (typically three bolts) securing the steering angle sensor to the steering column. Support the sensor with one hand while removing the final bolt.
   Torque spec

   Mounting Bolts27 Nm (20 lb-ft)
5. 5

   Remove steering angle sensor
   Carefully slide the steering angle sensor off the steering shaft. Note the orientation and alignment marks on the sensor body and shaft for reference during installation.
   ⚠Handle sensor carefully - internal components are sensitive to impact and shock
6. 6

   Install new steering angle sensor
   With steering wheel still centered and locked, slide the new steering angle sensor onto the steering shaft. Align the sensor housing with the mounting holes on the steering column. Ensure the sensor is fully seated and properly oriented.
   ⚠Verify steering wheel has not moved from center position before installing sensor
7. 7

   Install sensor mounting bolts
   Install the sensor mounting bolts and tighten evenly in a cross pattern to the specified torque. Verify the sensor housing is flush against the column and does not bind on the steering shaft.
   Torque spec

   Mounting Bolts27 Nm (20 lb-ft)
8. 8

   Reconnect electrical connector
   Reconnect the electrical connector to the steering angle sensor, ensuring it clicks securely into place. Verify the connector locking tab is fully engaged.
9. 9

   Reinstall steering column covers
   Reinstall the upper steering column cover by snapping the retaining clips into place. Position the lower cover and install the cover screws to the specified torque.
   Torque spec

   Cover Screws11 Nm (8 lb-ft)
10. 10

    Reconnect battery and calibrate sensor
    Reconnect the negative battery terminal. Turn ignition to ON position (do not start engine). Using an OBD-II scan tool with Toyota calibration capability, perform steering angle sensor zero-point calibration procedure. Follow scan tool prompts to complete calibration with wheels straight ahead.
    ⚠️Vehicle is unsafe to drive until steering angle sensor calibration is successfully completed

Reassembly

1. Verify all steering column covers are securely fastened
2. Confirm no tools or parts were left in the steering column area
3. Check that steering wheel rotates freely without binding

Verification

• Start engine and verify no warning lights remain illuminated on dashboard
• Confirm VSC, traction control, and ABS warning lights turn off after startup
• Use scan tool to verify steering angle sensor is reporting correct angle values (0 degrees at center)
• Test drive vehicle at low speed and verify stability control systems function properly
• Perform lock-to-lock steering test and verify sensor reports smooth angle changes without errors

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