This procedure covers the removal and replacement of a rear ABS wheel speed sensor on a 2019-2024 Toyota RAV4 with the 2.5L I4 gasoline engine.

Warnings

Tools required

Parts

• Rear ABS wheel speed sensor × 1 — Use OEM Toyota part number 89542-42030 or equivalent

Preparation

1. Park vehicle on level ground and engage parking brake
2. Place wheel chocks in front of front wheels
3. Loosen rear wheel lug nuts while vehicle is on ground (do not remove)
4. Raise rear of vehicle with floor jack and support securely on jack stands
5. Remove rear wheel completely
6. Identify which rear sensor requires replacement (driver or passenger side)

Procedure

1. 1

   Locate the ABS wheel speed sensor
   The rear ABS sensor is mounted to the rear knuckle assembly behind the brake rotor. Locate the sensor body and follow the wire harness toward the wheel well area where it connects to the main vehicle harness.
2. 2

   Disconnect the sensor electrical connector
   Follow the sensor wire harness up into the wheel well area. Press the locking tab on the electrical connector and pull the connector apart to disconnect the sensor from the vehicle harness. Note the routing of the wire for reinstallation.
3. 3

   Remove wire harness clips and brackets
   Carefully release any wire harness clips or cable ties securing the sensor wire to the suspension components or body. Use a flathead screwdriver or trim tool if needed to pry out retaining clips. Keep track of clip locations for reassembly.
4. 4

   Clean the sensor mounting area
   Use a wire brush or brake cleaner to remove any dirt, rust, or debris from around the sensor mounting bolt and the area where the sensor tip enters the knuckle. This will make removal easier and prevent contamination.
5. 5

   Remove the ABS sensor mounting bolt
   Using a 10mm socket, remove the single bolt securing the ABS sensor to the rear knuckle. The bolt may be tight or corroded; apply penetrating oil if necessary and allow it to soak before removal. Keep the bolt if reusing or discard if a new one is included with the sensor.
   Torque spec

   ABS Sensor Bolt10 Nm (7 lb-ft)
6. 6

   Extract the sensor from the knuckle
   Carefully pull the sensor straight out of its bore in the knuckle. The sensor may be stuck due to corrosion or debris. Gently twist and pull if needed, but avoid excessive force that could damage the knuckle bore. If severely stuck, apply penetrating oil and allow to soak.
7. 7

   Inspect the sensor bore and tone ring
   With the sensor removed, inspect the bore in the knuckle for damage or excessive corrosion. Check the tone ring on the wheel bearing/hub assembly for any damage, missing teeth, or debris buildup. Clean the tone ring with brake cleaner if dirty.
8. 8

   Prepare the new sensor
   Remove the new ABS sensor from its packaging. Apply a thin coat of dielectric grease to the sensor tip and O-ring to aid installation and future removal. Do not apply excessive grease that could attract debris.
9. 9

   Install the new sensor
   Insert the new sensor straight into the knuckle bore, ensuring it seats fully. The sensor should slide in smoothly without forcing. Align the mounting hole and hand-thread the mounting bolt to prevent cross-threading.
   Torque spec

   ABS Sensor Bolt10 Nm (7 lb-ft)
10. 10

    Torque the sensor mounting bolt
    Using a torque wrench, tighten the ABS sensor mounting bolt to exactly 10.0 Nm (7.0 lb-ft). This is a critical specification - overtightening will strip the threads in the aluminum knuckle, while undertightening may cause sensor movement and false readings.
    Torque spec

    ABS Sensor Bolt10 Nm (7 lb-ft)
11. 11

    Route and secure the wire harness
    Route the sensor wire harness following the original path, ensuring it does not contact any moving suspension components, sharp edges, or heat sources. Reinstall all harness clips and brackets in their original locations. Ensure adequate slack for suspension movement.
12. 12

    Reconnect the electrical connector
    Plug the sensor electrical connector back into the vehicle harness connector. Push firmly until you hear or feel the locking tab click into place. Gently tug on the connection to verify it is secure.
13. 13

    Reinstall the wheel
    Reinstall the rear wheel, hand-threading all lug nuts first. Lower the vehicle slightly so the wheel contacts the ground but does not bear full weight. Tighten lug nuts in a star pattern to 136.0 Nm (100 lb-ft) using a torque wrench.
    Torque spec

    Wheel Lug Nuts140 Nm (103 lb-ft)

Reassembly

1. Lower vehicle completely and remove jack stands
2. Perform a final torque check on wheel lug nuts with vehicle on ground
3. Clear any stored ABS diagnostic trouble codes using an OBD-II scanner

Verification

• Start the vehicle and verify the ABS warning light illuminates briefly during the bulb check, then turns off
• Drive the vehicle at speeds above 15-20 mph to allow the ABS system to perform a self-test and verify the new sensor is reading properly
• Use an OBD-II scanner or professional scan tool to monitor live data from the new sensor, confirming it shows speed readings during wheel rotation
• Verify no ABS warning lights remain illuminated on the instrument cluster after test drive
• Confirm all wire harness clips are secure and the sensor wire is not contacting any moving parts

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