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)Short to GND in Curtain Shield Squib RH Circuit
DTC B1162/81 Short to GND in Curtain Shield Squib RH Circuit
DESCRIPTION
The curtain shield squib RH circuit consists of the center airbag sensor
assembly and the curtain shield
airbag assembly RH.
The circuit instructs the SRS to deploy when deployment conditions are met.
DTC B1162/81 is ...
Body
GENERAL MAINTENANCE
1. TIGHTEN BOLTS AND NUTS ON CHASSIS AND
BODY
(a) Tighten all the parts of the chassis when necessary.
Steering system
Drive train
Suspension
Brake system
Engine mounting, etc.
(b) Tighten all the parts of the body when necessary.
Seat belts
Seats
Doors ...
Disassembly
1. REMOVE CONTROL KNOB SUB-ASSEMBLY (for Manual Air Conditioning System)
(a) Remove the control knob sub-assembly.
2. REMOVE AIR CONDITIONING CONTROL BULB
(a) Remove the air conditioning control bulb.
Reassembly
1. INSTALL AIR CONDITIONING CONTROL BULB
2. INSTALL CONTROL KNOB SUB-ASSEM ...