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There is a pin in the taillight that needs to be pulled straight to the side. Do not leverage it or the taillight might crack. My 2002 Sienna has 2 pins. By pulling the taillight assembly straight out sideways (perpendicular to the side the car), with a little gentle leverage from above and below, it popped out nicely. Be careful and gentle.

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Q: How do you remove the tail light assembly after removing the 2 bolts of a 2004 Toyota Sienna LE?
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