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This is a copy of the procedure to remove the steering wheel to get to that relevant bit. If its not sufficient, you could sign-up to http://www.justanswer.com for the full version. Hope it helps.
Care must be taken to replace parts properly because they could affect the performance of the steering system and result in a driving hazard.
The LEXUS LS430 is equipped with Supplemental Restraint System (SRS) such as the driver airbag and front passenger airbag. Failure to carry out service operation in the correct sequence could cause the SRS to unexpectedly deploy during servicing, possibly leading to a serious accident. Before servicing (including removal or installation of parts, inspection or replacement), be sure to read the precautionary notices in Restraint Systems.
DISCONNECT BATTERY NEGATIVE TERMINAL
REMOVE STEERING WHEEL PAD NOTICE: If the airbag connector is disconnected with the ignition switch at ON, DTCs will be recorded.
Place the front wheels facing straight ahead.
Remove the steering wheel lower No. 2 cover and pad switch modulator cover.
Using a torx driver, loosen the 2 torx screws until the groove along the screw circumference catches on the screw case.
Disconnect the connector.
Pull out the wheel pad from the steering wheel.
Using a screwdriver, disconnect the airbag connectors as shown in the illustration. CAUTION:
When storing the wheel pad, keep the upper surface of the pad facing upward.
Never disassemble the wheel pad.
NOTICE: When removing the wheel pad, take care not to pull the airbag wire harness.
REMOVE STEERING WHEEL
Disconnect the connectors.
Remove the steering wheel set nut.
Place matchmarks on the steering wheel and main shaft assembly.
Using SST, remove the steering wheel. SST 09950-50013 (09951-05010, 09952-05010, 09950-05020, 09954-05021)
REMOVE NO. 1 UNDER COVER
Remove the 2 screws and disconnect the No. 1 under cover.
Disconnect the 2 connectors, DLC3 and remove the No. 1 under cover.
REMOVE FINISH PLATE
REMOVE NO. 1 SAFETY PAD
Remove the 2 screws and disconnect the engine hood release lever.
Remove the 2 bolts and disconnect the No. 1 safety pad.
Disconnect the connectors, clamps and remove the No. 1 safety pad.
REMOVE COLUMN LOWER COVER Remove the 3 screws and column lower cover.
REMOVE NO. 5 HEATER TO REGISTER DUCT Remove the clip and No. 5 heater to register duct.
w/Smart key system: DISCONNECT STEERING LOCK SWITCH AND ACTUATOR
Disconnect the connectors.
Remove the 3 bolts and disconnect the steering lock switch and actuator.
REMOVE AIR SEALED PLATE
Read more: I have a 2002 Lexus LS430 that has the tilt and ... - JustAnswer http://www.justanswer.com/questions/1eb03-i-have-a-2002-lexus-ls430-that-has-the-tilt-and-telescopic#ixzz12Wpw9hWV