steering

Electric Power Steering Motor

for 2021 Toyota Camry 2.5L I4 · FWD

Difficulty

Moderate

Time

2.5 h

Tools

Steps

This procedure covers the removal and replacement of the electric power steering motor on a 2018-2024 Toyota Camry with the 2.5L I4 engine.

Warnings

⚠️Disconnecting the battery will erase vehicle memory settings including radio presets and navigation data. Have radio security code available if applicable.

⚠Never turn the steering wheel with the intermediate shaft disconnected, as this can damage the clock spring and disable the airbag system.

⚠The electric power steering motor contains sensitive electronics. Avoid dropping or striking the unit during removal and installation.

Tools required

10mm socket and ratchetEssential

12mm socket and ratchetEssential

14mm socket and ratchetEssential

17mm socket and ratchetEssential

19mm socket and ratchetEssential

21mm socket and ratchetEssential

Torque wrench (5-150 Nm range)Essential

Battery terminal wrenchEssential

Floor jack and jack standsEssential

Steering wheel holder or locking tool

Needle-nose pliers for cotter pinsEssential

Pry bar

Wire brush

Parts

Electric power steering motor assembly × 1 — Use OEM specification
Coupling bolt × 1 — 90119-10973 or equivalent

Preparation

Park vehicle on level ground and engage parking brake
Turn steering wheel to center position and note the position for reassembly
Disconnect negative battery terminal and wait 90 seconds before proceeding to allow airbag system to discharge
Remove driver-side lower dashboard panel and knee airbag if equipped for access to steering column
Mark the relationship between steering column shaft and intermediate shaft coupling with paint or marker for proper alignment during reassembly

Procedure

1
Disconnect intermediate steering shaft
Locate the coupling bolt connecting the steering column to the intermediate shaft just below the dashboard. Remove the coupling bolt completely. Carefully slide the intermediate shaft off the steering column splines. Do not rotate the steering wheel from this point forward.
Torque spec
Coupling Bolt34 Nm (25 lb-ft)
2
Remove steering column covers
Remove the upper and lower steering column covers by removing the cover screws. Set covers aside in a clean area to avoid scratching the plastic.
Torque spec
Cover Screws11 Nm (8 lb-ft)
3
Disconnect EPS motor electrical connector
Locate the electrical connector on the electric power steering motor assembly mounted on the steering column. Press the release tab and carefully disconnect the harness connector. Move the harness out of the work area.
⚠Do not pull on wires directly. Always use the connector body to disconnect.
4
Remove EPS motor mounting bolts
Locate the mounting bolts securing the electric power steering motor to the steering column. There are typically three mounting bolts. Remove all mounting bolts while supporting the motor unit to prevent it from falling.
Torque spec
Mounting Bolts27 Nm (20 lb-ft)
5
Remove electric power steering motor
Carefully separate the EPS motor from the steering column assembly. The motor may be connected via a worm gear or splined connection. Gently wiggle and pull the motor away from the column while maintaining alignment. Avoid tilting or binding during removal.
⚠Support the motor weight during removal to prevent damage to mounting points or internal gearing.
6
Inspect mounting surfaces and column
Examine the steering column splines and mounting surfaces for wear, damage, or debris. Clean mounting surfaces with a wire brush if needed. Check for any play or damage in the steering column bearings. Inspect the wiring harness routing for any chafing or damage.
ℹ️If column splines show significant wear or damage, steering column service may be required before installing new motor.
7
Install new electric power steering motor
Align the new EPS motor with the steering column splines or gear interface. Ensure proper orientation by referencing the mounting bolt holes. Carefully slide the motor onto the column while maintaining alignment. The motor should seat flush against the column mounting surface.
⚠Do not force the motor onto the column. Misalignment can damage internal gears or splines.
8
Install EPS motor mounting bolts
Install all mounting bolts finger-tight first to ensure proper alignment. Once all bolts are started, torque the mounting bolts to specification in a crossing pattern to ensure even clamping force.
Torque spec
Mounting Bolts27 Nm (20 lb-ft)
9
Reconnect electrical connector
Route the wiring harness to avoid contact with moving components or heat sources. Connect the electrical connector to the EPS motor, ensuring it clicks into place. Verify the connector is fully seated and the locking tab is engaged.
ℹ️Ensure harness has adequate slack and will not bind during steering column movement.
10
Reinstall steering column covers
Position the lower and upper steering column covers back in place. Install and torque all cover screws to specification. Ensure covers are properly aligned and all tabs are engaged.
Torque spec
Cover Screws11 Nm (8 lb-ft)
11
Reconnect intermediate steering shaft
Align the marks made during disassembly on the steering column shaft and intermediate shaft. Slide the intermediate shaft onto the steering column splines, ensuring full engagement. Install the new coupling bolt and torque to specification.
⚠️Proper alignment is critical for safe steering operation. Verify marks are aligned before tightening coupling bolt.
Torque spec
Coupling Bolt34 Nm (25 lb-ft)
12
Reinstall dashboard components and reconnect battery
Reinstall the knee airbag (if equipped) and lower dashboard panel. Reconnect the negative battery terminal. The EPS warning light will illuminate on the dash initially.
ℹ️Do not start the vehicle yet. System initialization is required in the next step.

Reassembly

Verify all fasteners are torqued to specification and no tools or parts remain in the work area
Ensure all electrical connectors are fully seated and locked
Confirm steering wheel is centered and intermediate shaft coupling is properly aligned

Verification

Turn ignition to ON position without starting engine. The EPS warning light should illuminate briefly then extinguish within 4 seconds
Start the engine and verify the EPS warning light remains off
With engine running, turn steering wheel slowly from lock to lock while stationary. Verify smooth operation with no binding, clicking, or unusual noises
Perform a test drive at low speed in a safe area. Verify power steering assistance is functioning normally and steering feel is appropriate
Check for any warning lights or diagnostic trouble codes related to the EPS system using an OBD-II scanner
If EPS warning light remains illuminated, perform steering sensor initialization procedure using Toyota diagnostic software or drive vehicle above 20 mph for several minutes to allow system self-calibration