Toyota Repair: Toyota Sienna Power Steering chatter, pillar plate, other vehicles

Question
Tim, My parents have a 2000 sienna van w/ about 60,000 miles. When you start it cold, and try to turn the steering wheel, the steering wheel chatters and kicks back a little. Could this just be a loose belt if the fluid is already full, and is this belt adjustable? (from underneath?)
Also, the right power door light stays on at times, and hte door operation is erratic when the light is on. Is there any chance it is just dirty contacts on the door-to-pillar plate?

Thank you!

Answer
Jerry,

I am not that familiar with the Sienna, but I would try a little power steering additive such as Lucas. I have had other vehicles do the same thing and the Lucas really seems to cure the problem.

As for the side door yes try cleaning the contacts, but it sounds more like a limit switch out of adjustment on the door.