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Reliable or not 10 Year old Avensises are invariably knackered after a million minicab miles. Plus rust, and broken driveshaft. Plus they are totally boring in every way. If they can't even be reliable then there is literally no point in their continued existence.
Scrap it and buy something nicer.Scrap: IIII
Fix: IIIII
Toyota are pretty reliable cars, if this is the only major thing that have gone wrong, fix.
Scrap: III
Fix: IIIII