Toyota steer axles are pretty soft and if your right hand side stub bearing or axle needle rollers have any play then this will usualy smash the steer angle sensor that mounts on top

Hello Fernando, Code 71-1 is for a Tire angle sensor abnormality - Check all wires and connections for Tire angle sensor - Disconnect battery neg - and wait- reconnect battery neg- turn on key switch - see if code still pops up - if so it might be a bad sensor- hope this helps