The recall involves 2012 and 2013 models of the Camry, Camry Hybrid, Avalon, Avalon Hybrid and Venza vehicles.
Toyota needs to repair an air conditioner leak that can cause the air bag and steering systems to fail, or cause the air bags to deploy inadvertently.
Toyota knows of two minor injuries, but no accidents related to the defect.
Owners will be notified starting in November. Toyota dealers will repair the problem for free. You can get more information about the recall by visiting www.toyota.com/recall and by calling the Toyota Customer Experience Center at (800) 331-4331.