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If it is happening while turning it could be several things.
One is the mounts where the rack and pinion is attached to the body of the car. if the bushing wear out or the bolts holding it in place go bad or loosen it allows the rack to move.
Could also be a bad tie rod end, lower ball joints, control arm bushings, upper strut mount and there are several other things.
If you ahve the extended Toyota warranty I would take it to the dealer. Just make sure the extended warranty is a comprehensive warranty similar to teh bumper to bumper warranty that came with the car. SOmetimes you only purchase an extended powertrain warranty taht will not cover problems with the steering and things of that nature. SInce you said it is the Platinum warranty I am going to assume that it will cover this unless itwas caused by an accident or misuse of some nature. You will most likely pay some kind of deductible to have the problem repaired.
As for them charging you if they cant fix it, they may want you to pay a diagnostic fee which should be credited back to you if the repair is warrantable.
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Chris
PLEASE DO NOT GET RID OF THE OLD TN AS WE KNOW IT.
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