2011 Toyota RAV4 - Steering locks at 60MPH

My steering column sometimes locks when I’m driving around 60 mph. Has anyone else experienced this problem? How was it resolved? The dealership has not been able to get the car to do it with them.

So just as if you’d taken the key out?
When does it unlock afterward? (hopefully before going over that cliff…)

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Have the battery and alternator tested. Your Rav4 has electric power steering.