I drove for about 40 minutes in the morning to go somewhere and I pulled to McDonald's on the way home.
Something felt weird on my steering wheel. I seemed like the car was going wherever it wanted to. As I was checking the front tires, I found out that the right tie rod was broken/disconnected.
I was fortunate enough not to have the tie rod broken on the highway.

I've been questioning toyota's reliability ever since bought this car in 2004.
It has only 35000 miles now. It has had some issues with squeaky rear suspension and noisy engine.

I'm just glad to be alive.