Toyota knows what the problems are, and has known for some time.
Back in 2006, the Japanese government accused Toyota of improper business practices because it chose, for eight years, not to disclose and act upon reports of design defects implicated in loss of control incidents.
So the real issue has been Toyota's refusal to acknowledge the problems and fix them properly, with profit and perverse pride the motivating factors. Now it's come back to bite them.
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