If the shift lever cannot be shifted with your foot on the brake pedal, there may be a problem with the shift lock system (a system to prevent accidental operation of the shift lever). Have the vehicle inspected by your Toyota dealer immediately.
The following steps may be used as an emergency measure to ensure that the shift lever can be shifted:

To prevent damage to the cover, cover the tip of the screwdriver with a rag.

The shift lever can be shifted while the button is pressed
If the beep sounds continuously when the shift lever is shifted from P (vehicles with an AUTO ACCESS SEAT)
The AUTO ACCESS SEAT may not be locked in place.
For details, refer to “AUTO ACCESS SEAT OWNER’S MANUAL”.
If the engine will not
start
If the electronic key does
not operate properly
(vehicles with a smart
key system)Cursor or Map Rotates when Vehicle Stopped
INSPECTION PROCEDURE
1 CHECK CONDITION
Check with the customer if the vehicle has been turned
by a turntable.
OK:
Vehicle has not been turned by turntable.
HINT:
If the vehicle is turned on a turntable with the ignition
switch on, the system may store the angular velocity. As
a ...
Inspection
1. INSPECT OIL PUMP ASSEMBLY
(a) Turn the drive gear with the 2 screwdrivers and
make sure that it rotates smoothly.
NOTICE:
Be careful not to damage the oil seal lip.
2. INSPECT CLEARANCE OF OIL PUMP ASSEMBLY
(a) Push the driven gear to one side of the body.
(b) Using ...
Throttle Actuator Control Motor Circuit
DESCRIPTION
The throttle actuator is operated by the ECM and opens and closes the
throttle valve using gears.
The opening angle of the throttle valve is detected by the Throttle Position
(TP) sensor, which is mounted
on the throttle body. The TP sensor provides feedback to the ECM. This ...