Argthtjtr

I'm looking for a novel I read, probably in the mid 1990s.

The story involved an alien vessel/asteroid coming through our solar system and a human ship going out to meet it and then being stuck on it as it continues out into deep space.

As they explored the alien vessel they encounter other alien races who are also stuck, some of them go round looking for new arrivals to steal all their technology.

When they first land they find spires sticking out of the surface that are rotating with near infinite torque so they use this to generate power.

The timeline is a bit out, but I'm pretty sure the book you are looking for is Pushing Ice by Alastair Reynolds.

The story involved an alien vessel/asteroid coming through our solar
system and a human ship going out to meet it and then being stuck on
it as it continues out into deep space

The crew of the Rockhopper get tasked with following Saturn's moon Janus, after it ditches its disguise and starts heading out of the solar system. The Rockhopper gets caught in its wake and finds it impossible to stop, and so ends up travelling on Janus to its destination.

As they explored the alien vessel they encounter other alien races who
are also stuck, some of them go round looking for new arrivals to
steal all their technology

The Rockhopper eventually ends up in a giant structure which is populated by other species that have also been trapped. One of these species is the Musk Dogs, who along with several allies go around stealing technologies and resources of new arrivals.

When they first land they find spires sticking out of the surface that
are rotating with near infinite torque so they use this to generate
power

It's this part which makes it certain to me you are after Pushing Ice.

After finding a very slowly rotating spire and using its incredible torque to generate power, a technician is killed when he repeats a regular inspection several times in repetition around it - it's discovered that Janus punishes repetition, and so the crew take to carrying around methods of introducing randomness into their lives (dice etc).

Seems like the Rama series of books by Arthur C. Clarke to me.

Rendezvous with Rama is a science fiction novel by British writer Arthur C. Clarke first published in 1973. Set in the 2130s, the story involves a 50-kilometre (31 mi) cylindrical alien starship that enters the Solar System. The story is told from the point of view of a group of human explorers who intercept the ship in an attempt to unlock its mysteries. The novel won both the Hugo and Nebula awards upon its release, and is regarded as one of the cornerstones in Clarke's bibliography. The concept was later extended with several sequels.

In the series there are gigantic cylinders passing through the solar system a few times. They have inhabitants from other species in them, and spires in at least one end that match your description.

It reminds me of The Silver Ships by Scott Jucha.

An explorer-tug captain, Alex Racine detects a damaged alien craft
drifting into the system. Recognizing a once in a lifetime opportunity
to make first contact, Alex pulls off a daring maneuver to latch on to
the derelict.

Rendezvous with Rama was written by Arthur C Clarke in the 1970s and was also made into a movie. It fits your description, through there may be other novel as people have suggested.