My steering wheel was feeling a little stiff and after doing some research, I decided to take a chance and forego changing the Power Steering Pump or the Rack and changed out steering column shaft. Thanks to the members that pointed out the u-joint was most likely rusted and causing the stiff steering.

Shaft column with U-joint is part # 4520335310
3 replacement bolts with locking washer part # 9008011555

The wheel well was the best access point. Took the top bolts off first and then was able to slide the yolk up disconnecting from shaft. Once the lower bolt was removed, it took a long time disconnecting the shaft from the rack. The rust made this difficult. Job took almost 1.5 hours. In the end, my wheel now turns very freely and the stiffness is now gone. Unfortunately I was unable to take a pic of the lower bolt but it is place right above the axle.

BTW - do this at your own risk. I take no responsibility, yada yada yada. I am just telling you my experience.

Excuse me while I go out and buy some POR15 and plan myself a rust-proofing project. :jaw drop:

I suspect I have the same problem.

v6 2003 4runner here, steering a bit stiff from right lock all the way to left lock. Most annoying when making slight steering adjustments at freeway speed. Similar symptoms?

Great guide! Are those part numbers the same for all 4th Gen v6 and v8?

Glad to see your project went well.

Thanks for the conformation! I am running an 03 V8 and seem to have the same issue, again i noticed this as you did on the highway. I know my truck came from PA so its a rust issue for sure! I will replace the part and tell my story after with an update.
I have had to lube the steering knuckle (U-joint) on my 2001 Bonneville before with almost the same feedback. I remember the hardest thing was unbolting it...lube was easy but it returned after 4months, I suggest that if its rusted pretty bad to just replace the unit and forget about reusing it unless its only slightly rusted up; then you might be ok with a great lube job.

My .2

Great post guys.. Although.. I feel like the pump was also an issue (but then...had I checked this puppy I'd probably not have done the pump). Either way.. Yota dealer would like $450. Hmmmm AllData says 1.5 hrs warranty (which it isn't) and 2.0 hrs non warranty. Looks like no fun at 10F degrees. Talked them down to $388 on this one. Enjoy the fight Toyota Tech...

Had the same issue on my 03 V8 - corroded steering column U-joint looked just like the picture taken by the OP slyangel9.

Diagnosis posts here (including mine):

2005 4Runner Stiff Steering

I keep mine lubed all the time with TriFlow and it works great.

Somehow that doesn't surprise me, MANY vehicles have a very open u-joint like that so I am surprised its not reported more commonly in saltier areas and rust band zones. Good write-up!

bumping a old thread for 2 reasons

-thanks for the part numbers and pictures!
-updated part numbers as of today!

45209-35170 called intermediate steering shaft #2 part number listed in OP is old part number that is dead and this one has been updated number and design.

bolts are also updated
90119-08560

Local dealer costs are $145 and $1.50 for each of the nuts total about $150. If you google the old part number it will take you to a bunch of old part numbers that people have New Old Stock.

I may have the same issue with mine. I couldn't find the 45209-35170 part anywhere. Is this a new redesigned one? Mine is 2006 V6

Here is the part number from when I replaced the corroded intermediate steering shaft on my 03 V8

Toyota Canada part # 45203-35310 (Shaft, sub-assembly, steering)

So you only replaced the joint? not the whole rod assembly? May I ask where you got this from and for how much? Would it fit in a 4th gen 2006 4runner v6?

I replaced the entire intermediate shaft (see the third picture down in the first post of this thread - that's what it looks like).

Although the work was done by an independent garage, I sourced the intermediate shaft from my local Toyota dealer.

I can't speak for fitment in your 06 V6, but I suspect that this part was used in all 4th generation models (03 to 09). Best to check with your Toyota dealer's parts department to verify fitment.

Sorry to revive an old thread, but I think this may be the solution to my problem.
My symptoms: steering is intermittently tight. It's usually very tight when I first start driving, until a turn or two seems to loosen it up. There's no difference between freeway and city tightness, and my ps pump seems to be doing fine so I've ruled that out. It'll randomly get tight when driving straight but a little "wiggle" will make it feel right again. I've got plenty of rust in there, so I'm thinking this might be my best bet before going for a full steering rack replace. Thoughts? Is that similar to the symptoms you were experiencing before you did this?