Here's how to replace an intermediate steering shaft on your car.

The intermediate steering shaft connects the steering column underneath the dashboard to the steering rack pinion underneath the vehicle. It is comprised of a telescoping shaft with two universal joints to account for a steering column tilt angle and collapsibility.

At times, the telescoping part of the shaft may bind, causing stiff steering or a squeaking or popping sound. The universal joints may develop excessive play causing a loose steering feel and clunking when turning. At this point, the intermediate steering shaft should be replaced.

Toyota and Lexus issued a TSB for the intermediate steering shaft noise here:
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Steering shaft replacement here:
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The TSB involves re-greasing the telescoping intermediate steering shaft to cure the noise.

In this video, the intermediate steering shaft was replaced with a used one on a 2006 Toyota Sienna front wheel drive.

New steering shaft assemblies can be purchased on Amazon here:
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Metric socket set:
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Impact gun:
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Hammer, (although I recommend an air hammer!)
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Pry bar:
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This is the Camera I use:
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