This procedure covers the removal and replacement of the Electric Power Steering (EPS) control module on a 2019-2024 Toyota RAV4 with the 2.5L I4 engine and front-wheel drive.

Warnings

Tools required

Parts

• Electric Power Steering Control Module × 1 — Use OEM specification

Preparation

1. Park the vehicle on a level surface and ensure the steering wheel is centered and the front wheels are pointed straight ahead
2. Set the parking brake and place wheel chocks behind the rear wheels
3. Turn the ignition to OFF and remove the key or fob from the vehicle
4. Allow the engine to cool completely if recently driven
5. Gather all tools and the replacement EPS module

Procedure

1. 1

   Disconnect the battery
   Open the hood and locate the battery in the engine compartment. Using a 10mm socket or battery terminal wrench, loosen and disconnect the negative (-) battery terminal. Secure the cable away from the terminal. Wait at least 90 seconds before proceeding to allow the airbag system capacitors to fully discharge.
2. 2

   Remove the lower steering column trim panels
   From inside the driver's footwell, locate the lower steering column cover panels. Remove the screws securing the lower cover panel using a Phillips screwdriver or trim removal tools. Carefully pull the lower panel away from the column to release any retaining clips. Set the panel aside. If present, remove the upper column cover in the same manner to access the EPS module mounting area.
3. 3

   Locate the EPS control module
   The EPS control module is typically mounted on the steering column just below the instrument panel, or on the firewall near the steering column. It is a rectangular metal or plastic housing with an electrical connector. Use a work light to clearly identify the module and its mounting hardware.
4. 4

   Disconnect the EPS module electrical connector
   Locate the main electrical connector on the EPS module. Press the locking tab or release mechanism (typically a sliding lock or press tab) and carefully pull the connector straight off the module. Do not pull on the wires themselves. If the connector is difficult to access, note the routing of any interfering wiring harnesses and carefully move them aside.
   ⚠Avoid touching the connector pins or module terminals with bare hands. Use electrical contact cleaner if pins appear corroded.
5. 5

   Remove the EPS module mounting hardware
   Using the appropriate socket (typically 10mm or 12mm), remove the bolts or screws securing the EPS module to its mounting bracket on the steering column or firewall. There are typically 2-4 mounting bolts. Keep track of any spacers, washers, or grounding straps that may be present.
   Torque spec

   Mounting Bolts27 Nm (20 lb-ft)
6. 6

   Remove the EPS control module
   Carefully slide or lift the EPS module away from its mounting location. Note the orientation and position of the module for reinstallation. Inspect the mounting area for any debris, corrosion, or damaged wiring. Clean the mounting surface if necessary.
7. 7

   Install the new EPS control module
   Position the new EPS module in the exact orientation and location as the original. Align the mounting holes with the bracket. Hand-thread the mounting bolts to ensure proper alignment before tightening. If a grounding strap was present, ensure it is properly positioned under the mounting bolt.
8. 8

   Torque the EPS module mounting bolts
   Using a torque wrench, tighten the EPS module mounting bolts to 27.0 Nm (20.0 lb-ft) in a cross pattern if multiple bolts are present. Ensure the module is securely mounted and does not move or rattle.
   Torque spec

   Mounting Bolts27 Nm (20 lb-ft)
9. 9

   Reconnect the electrical connector
   Inspect the electrical connector for any signs of damage, corrosion, or bent pins. Clean if necessary using electrical contact cleaner. Align the connector with the module terminals and push firmly until you hear or feel the locking tab engage. Verify the connection is secure by gently pulling on the connector body (not the wires).
10. 10

    Reinstall the steering column trim panels
    Position the upper steering column cover (if removed) and secure any retaining clips. Install the screws and tighten by hand. Position the lower steering column cover and align all clips. Press firmly to engage the clips, then install and hand-tighten the retaining screws. Do not overtighten plastic trim screws.
11. 11

    Reconnect the battery
    Return to the engine compartment and reconnect the negative battery terminal. Tighten the terminal bolt securely using a 10mm socket or battery terminal wrench. Ensure the connection is tight and the cable cannot move.

Reassembly

1. Ensure all electrical connectors are fully seated and locked
2. Verify all trim panels are properly secured and aligned
3. Confirm the steering wheel remains centered with wheels pointed straight ahead

Verification

• Turn the ignition to ON (engine off) and verify the EPS warning light on the instrument cluster illuminates briefly and then turns off, indicating normal system operation
• Start the engine and verify there are no EPS warning lights or messages on the instrument cluster
• With the engine running, turn the steering wheel slowly in both directions while stationary to verify proper power steering assist operation and no abnormal noises
• Test drive the vehicle at low speed in a safe area to confirm normal steering operation and proper assist feel
• If the EPS warning light remains illuminated or steering feels abnormal, use a diagnostic scan tool to check for fault codes and perform steering angle sensor calibration if required by the specific module replacement
• Verify all trim panels are secure and there are no rattles from the steering column area

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