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)Distance Control ECU Communication Stop Mode
DESCRIPTION
Detection Item
Symptom
Trouble Area
Distance Control ECU
Communication Stop
Mode
Distance control" is not displayed on the
"Communication Bus Check" screen of the
intelligent tester
Applies to "Distance ...
Power slide door main switch
INSPECTION
1. INSPECT POWER SLIDE DOOR MAIN SWITCH
Inspect the resistance of the switch.
Resistance
If the result is not as specified, replace the switch.
Apply battery voltage and check the illuminates.
Standard
HINT:
Whether the switch illuminates or not will not affect
...
Problem symptoms table
If there are no DTCs output but the problem still occurs,
check the circuits for each problem symptom in the order
given in the table below and proceed to the relevant
troubleshooting page.
NOTICE:
When replacing the brake actuator assembly, sensor,
etc., turn the ignition switch off.
HINT:
...