If the shift lever cannot be shifted with your foot on the brake, 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.
Set the parking brake.
Vehicles with smart key system:
Turn the “ENGINE START STOP” switch to ACCESSORY mode.
Vehicles without smart key system: Turn the engine switch to the “ACC” position.
Depress the brake pedal.

Pry the cover up with a flathead screwdriver or equivalent.
To prevent damage to the cover, cover the tip of the screwdriver with a rag.

Press the shift lock override button.
The shift lever can be shifted while the button is pressed.
If the engine will not start
If you lose your keysPrecaution
PRECAUTION
CAUTION:
Replace any faulty seat belt components (outer belt, inner belt, bolts, nuts,
adjustable shoulder anchor, tether anchor hardware and other related parts). When
inspecting a vehicle that was in a collision, be sure to check all of the ...
Pressure Control Solenoid "D" Performance (Shift Solenoid Valve SLT) (P2714)
SYSTEM DESCRIPTION
The linear solenoid valve (SLT) controls the transmission line pressure for smooth
transmission operation based on signals from the throttle position sensor and the
vehicle speed sensor. The TCM adjusts the current to SLT solenoid valve ...
Knock Sensor 1 Circuit Low Input (Bank 1 or Single Sensor) (P0327,P0328)
DESCRIPTION
Flat-type knock sensors (non-resonant type) have structures that can detect vibrations
between approximately 5 and 15 kHz.
Knock sensors are fitted onto the engine block to detect engine knocking.
The knock sensor contains a piezoelectric elem ...