HINT: This is the repair procedure for vehicle pull.

Problem symptoms table
Front suspensionExhaust pipe ASSY (3MZ-FE)
COMPONENTS
REPLACEMENT
NOTICE:
Check if an old gasket remains on the pipe. If remains, remove it. Check if any
bolts or nuts are rusted.
If rusted, replace them.
1. REMOVE HEATED OXYGEN SENSOR
(a) Remove the 2 heated oxygen sensors (bank 1, 2 sensor
2).
2. REMOVE EXHAUST PIPE ASSY ...