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This is a common failure on Toyota Siennas that can cause major damage if not fixed. I was lucky and mine failed as I was pulling into my neighborhood.
I bought part # 15772-31030 straight from the dealership for about $38. It says it doesn't fit the Sienna, but it has the same engine as the Highlander and several others and it fit great.
Here is the link referencing the LSC for it if you care to read it, but DO NOT buy the part they say to in this file. That only replaces the rubber hose with another rubber hose: static.nhtsa.g...
Diagram of how it goes together with washers and everything:
parts.lakeland...
Steps to complete this:
Drain the rest of your oil and replace plug
Remove plastic plate covering the VVT-i line
Remove top banjo bolt - 17mm
Remove bracket bolt - 10mm
Remove serpentine belt (plenty of videos online showing how)
Remove both power steering bolts and let it hang - 14 mm
Remove bottom banjo bolt - 17 mm
Pull the old line out put it all back together in reverse order!
In the video I had just started putting it back together. Here are some notes from after I got it fully installed:
I had a fit getting the Power Steering pump back in. Slide the top bolt in before you try to line it back up. I put the bottom in first then couldn't get the top bolt to fit back up in there and had to take the bottom off again. Also, be very careful and get the bolts started by hand first. The holes are aluminum and when I put the bottom bolt back in for the second time I cross-threaded and stripped the hole because I was frustrated and trying to go too fast.