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2009 Sienna LE
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I'm not real familiar with that, but here are some quick thoughts: I think that's the power steering boot. I think the reason that happens is that the seals in the rack and pinion fail, power steering fluid escapes into the boot, and then the boot ruptures under the additional pressure. Depending on how bad the leak is, I think you might be able to add power steering fluid from time to time. The fix would be replacing the rack and pinion.

Again, I'm not real familiar with this, so I'm sure others will have better advice. Just wanted to post something in case you're stratching your head!
 
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