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Put it up on jack stands and get someone to turn the wheel back and forth. See if you can isolate that click. I believe that you can see the U-joint that you mentioned right above the rack & pinion. If you squirted it with WD40 and it fixed it that's probably your problem. However, if the U joint turns out not to be the problem the WD40 might wash away some of its grease and shorten its life span.
Kep
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Often, it's the loose screw between the steering wheel and the driver's seat that needs to be fixed first!
Stock 1995 Camry, 5SFE, Sedan.
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