Dealer says replace steering yoke. $1000.00 .You tube says use a little lithium grease on the spline. My 1999 camry is fine so why would a 9 year newer camry need a steering yoke?
There seems to be dealers who put a lot of pressure on their mechanics to replace parts...whether needed or not.
A new car dealer told my 80 yr old mother she needed new tires when she took the car in for a warranty issue...which was bought new at that dealer...among 5-6 other new cars from that same dealer. She declined until talking with me first. The car (Towncar) had less than 20k miles with high end 80k Michelins with tread that still looked factory new. The short story is I called the general manager 2 days later to complain and they had already fired the service manager who pulled that stunt on my mom.
Another: I took my wife's RAV 4 in for a recall at a Toyota dealer. We had also purchased a new Camry from them. The rep came out and told me the brakes needed replacing for $900. I declined (because I do my own brakes) and drove home. When I got there I looked up Toyota specs for pad wear and took the wheels off to check what was up. The pads measured about 50% wear and looked perfect. If memory is right new OEM pad thickness was speced at 12mm and replacement spec is 2-3mm. They lasted about 70k more miles.
With that said I'd get another opinion on the steering column.