Better have the front end checked, might be a front end component, like a worn ball joint, idler arm,center link, worn rack-n-pinion, tie rod end, most likely front end alignment.
Also the power steering rack bushings can be worn out, allowing a lot of play in the steering, and wandering/ straying from the intended path.
Also the power steering rack mounting bushings can be worn out, allowing a lot of play in the steering, and wandering/ straying from the intended path.
The Bushings that mount the Rack to the Sub-Frame, not internal bushings.
Additionally this model had a recall for the steering wheel not being torqued enough from the factory. The wheel nut can loosed off adding to steering play. If this is the case, the steering wheel will move up and down. The remedy is to disconnect the battery, remove the airbag, & te torque the steering wheel nut to the new Toyota recommended spec.
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