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Good news everyone
Toyota Australia willing to replace the electric Power Steering motor and Power Steering ECU unit (did't know they have a separate ECU for the Power Steering). This is the instruction from the Top.
Good on you Toyota Australia, excellent customer service.
For those who argue about the steering, you obviously has not own an 86, if you do, just try to turn your car off then try to turn the steering wheel to see if you can make the full circle.
For anyone having similar issue and cannot get the local dealer to agree to fix the problem, I would highly recommend to contact Toyota for the nation rather than the local dealer, they operate independently and will not go the extra mile for your Warranty services. The local dealer was going to send the car back to me as it because they could not replicate the fault.
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