Steering control is constantly in error trying to pull the car to the right. This started about the 75,000 to 90,000 mile period. no dealer nor anyone else can advise on how to reset the control to '0" point. There are some youtube videos about how to reset the Toyota brands, but no help even from the forums. Seems that the steering 'pulling to the right' is generic to that production group. Additionally, the vibration from the read differential (AWD model) is notorious and was discussed on Click & Clack some years ago. Just be prepared to change the differential fluid at 50,000 miles and there after. Goodyear has made a tire (allurance or something like that) that changes the noise and ride of the car. I have always been a Michelin person but the noise and ride hurts. With Goodyear, it is a nicer ride. The paint has held up well.