Question about 2004 Toyota Sienna
I have similar problem 125000 KM (75000 miles).
Steering stiff and not returning to normal position after turning
Chec your fluid are there any leaks-mite need some new fluid-the pump maybe bad-also sensors hooked to steering should be viewed-could take car to the zone and have it scanned
Posted on Aug 02, 2009
One known issue is that the u-joint on the steering shaft gets corroded. This happened to my 2004 Sienna and I was able to lubricate the u-joint and it cleared the issue. See this site for how to do it too: How to Fix Toyota Sienna Stiff Steering Share Your Repair
Posted on Jun 04, 2016
Change the "linkage tower" under the hood. Its a problem we had with ours. it had worn out and seized up at only 110000 kms.
Posted on Jul 06, 2010
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Posted on Jan 02, 2017
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