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Before you follow these steps look at the bottom of the steering column on the floor. There is a rubber boot where it goes through the floor. I found my squeak there, applied a little grease and it went away. Of course I found mine only after I had removed the whole cover.

The cover is easy to remove. There are two screws on the top of the column. You will see them when you rotate the steering wheel. Remove those screws. The two pieces are snapped together about i/3 of the way down the cover on each side. Unsnap the two pieces and the bottom cover will come off easily. The top half will take some "finagling" to get off but it will come off.

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Q: 2003 Camry remove steering wheel to lubricate column?
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