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Your issue is the inverter pump failing. Same with ajnelson above here in this tread. STOP driving the car immediately if you see that warning...
I have also noticed that if I hold the wheel tightly the shaking goes away in a few seconds. The shaking also only happens on cold/ cool mornings....
You got to read the codes. However Toyota did not make this easy to do. You need a OB2 scan tool that can read that special HV codes Prius has....
Hey Chap I came across a garage that claims to take apart the PS rack and clean up the electrical surfaces. He has a nice write up with pics....
For what it worth I found a repair shop that made a nice write up with pictures about fixing the PS in a Gen 1 Prius. A good DIYer could probably...
