There have been many strange problems with the Prius, some of which I have attributed to the self replacement of a stolen catalyst/O2 unit. Needless to say, I don't have an 0bd2 reader that works with detailed Prius codes. Eventually, a series of unique issues made me realize it was a faulty coolant pump. The car drives fine but then it happens after about 100 miles (depending on the temperature), these problems appear, various car warning lights come on (warning, check engine, VSC or eventually brake), also the air conditioning stops cooling and finally. lame mode. After changing the coolant pump a few months ago and driving around the area (20-45 minutes each way) I completed a longer drive (2.5 hours each way) with no problems. On the outside it looks just as good as what comes with it. There's only one screw that was really annoying, easy to replace overall (I used cheap hose clamps), and there's a YouTube video. I took the opportunity to remove the dashboard and headlight from the car to replace both of my lightbulbs which might save you some time.
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