VGRS light and off center steering wheel

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Joined
Aug 11, 2024
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Our 2004 LX470 has the VGRS light on sometimes and blinking at other times and then off completely. The steering get's off center almost sometimes also. Does this mean a new steering rack needed or something else? Is it dangerous to drive as is? Our closest Lexus dealer is a 5 hour drive, can a Toyota dealer fix the problem?
 

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